+ python -m lidar_slam --no-model /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add Lidar SLAM 0.0.12 ===================================================== The recording path: /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add 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 0.001652532 Adjusted end_distance from 9.223372036854776e+18 to 148.251652532 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001652532 meters 0.33771948595726997 Centerline is valid? [0, False] SLAMing on 0.031652532 meters 0.3473016664276542 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999966e-01 -2.12864499e-04 1.51728162e-04 -6.19558417e-04] [ 2.12913718e-04 9.99999925e-01 -3.24449835e-04 1.07311944e-03] [-1.51659086e-04 3.24482129e-04 9.99999936e-01 3.52220262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061652531999999996 meters 0.3241567273836879 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99997924e-01 1.42567703e-03 1.45588645e-03 -4.17611528e-03] [-1.42726043e-03 9.99998391e-01 1.08712697e-03 -1.30418807e-03] [-1.45433422e-03 -1.08920264e-03 9.99998349e-01 5.71902251e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091652532 meters 0.3419730021500876 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.00 [[ 9.99993991e-01 1.99363631e-03 2.83592537e-03 -7.59924333e-03] [-1.99742945e-03 9.99997114e-01 1.33533007e-03 -1.70788904e-03] [-2.83325502e-03 -1.34098661e-03 9.99995087e-01 1.61344953e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121652532 meters 0.3263871562641026 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.00 [[ 9.99985575e-01 2.97261857e-03 4.47370397e-03 -1.19513175e-02] [-2.98072449e-03 9.99993926e-01 1.80632827e-03 -2.41340354e-03] [-4.46830727e-03 -1.81963709e-03 9.99988362e-01 5.36123099e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151652532 meters 0.34181603989797293 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:-0.00 [[ 0.99995044 0.00766631 0.00635176 -0.01511458] [-0.00769661 0.99995905 0.00475934 0.00233036] [-0.00631501 -0.00480799 0.9999685 -0.00241559] [ 0. 0. 0. 1. ]] SLAMing on 0.181652532 meters 0.33344575373229296 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:-0.00 [[ 0.999927 0.00887033 0.00820403 -0.01941533] [-0.00891096 0.99994815 0.0049294 0.00282965] [-0.00815988 -0.00500214 0.9999542 -0.00345227] [ 0. 0. 0. 1. ]] SLAMing on 0.211652532 meters 0.3340872269868533 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:-0.01 [[ 0.99990851 0.00917731 0.00993696 -0.0228712 ] [-0.00922026 0.99994831 0.00428583 0.00500466] [-0.00989711 -0.00437706 0.99994144 -0.0051096 ] [ 0. 0. 0. 1. ]] SLAMing on 0.241652532 meters 0.34048828602150505 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.01 [[ 0.99982811 0.01406889 0.01207569 -0.02677992] [-0.01415951 0.99987198 0.00745229 0.00965175] [-0.0119693 -0.00762199 0.99989932 -0.00745325] [ 0. 0. 0. 1. ]] SLAMing on 0.271652532 meters 0.34072859615641454 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.01 [[ 0.99979697 0.0148097 0.01366381 -0.03110318] [-0.01491749 0.99985814 0.00782049 0.00902481] [-0.01354605 -0.00802273 0.99987606 -0.00727648] [ 0. 0. 0. 1. ]] SLAMing on 0.301652532 meters 0.34780764426020866 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-0.01 [[ 0.99977045 0.01523662 0.0150628 -0.03458962] [-0.01535801 0.99985024 0.00797662 0.0085206 ] [-0.014939 -0.00820612 0.99985473 -0.0075786 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33165253199999994 meters 0.36058581367484416 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:-0.01 [[ 0.9997595 0.01528598 0.01572546 -0.03644926] [-0.01541287 0.99984937 0.00797972 0.00825855] [-0.01560112 -0.00822018 0.9998445 -0.00752648] [ 0. 0. 0. 1. ]] SLAMing on 0.36165253199999997 meters 0.34382697431617526 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:-0.01 [[ 0.99965523 0.01985104 0.01718587 -0.03932079] [-0.02005678 0.99972822 0.01188297 0.00968501] [-0.01694531 -0.01222357 0.9997817 -0.0085527 ] [ 0. 0. 0. 1. ]] SLAMing on 0.391652532 meters 0.34541978602097384 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:-0.01 [[ 0.99960599 0.02091167 0.01872322 -0.0436236 ] [-0.02114461 0.99970039 0.01233057 0.00884362] [-0.01845976 -0.01272161 0.99974867 -0.00832467] [ 0. 0. 0. 1. ]] SLAMing on 0.42165253199999997 meters 0.35883749584146635 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:-0.01 [[ 9.98669161e-01 4.38378762e-02 2.71688755e-02 -6.26059813e-02] [-4.41708860e-02 9.98954533e-01 1.17802661e-02 -8.48646722e-04] [-2.66240495e-02 -1.29646617e-02 9.99561443e-01 -9.53819222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45165253199999994 meters 0.36572520825768945 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:-0.02 [[ 0.99832446 0.04875428 0.03116571 -0.07377504] [-0.04960754 0.99839787 0.02721754 -0.00613181] [-0.02978881 -0.02871799 0.99914359 -0.01964824] [ 0. 0. 0. 1. ]] SLAMing on 0.48165253199999997 meters 0.36830730987050037 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-0.02 [[ 0.99782245 0.05463512 0.03695076 -0.08848518] [-0.05570201 0.99804096 0.02848728 -0.01274592] [-0.03532196 -0.03048348 0.99891097 -0.02213883] [ 0. 0. 0. 1. ]] SLAMing on 0.511652532 meters 0.3742618357079249 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.02, Z:-0.02 [[ 0.9974498 0.06561752 0.02807574 -0.09218754] [-0.06631331 0.99749523 0.02461333 -0.02204727] [-0.02639035 -0.02641236 0.99930273 -0.01620065] [ 0. 0. 0. 1. ]] SLAMing on 0.5416525320000001 meters 0.3810053252344032 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:-0.03 [[ 0.99727123 0.06639163 0.03228368 -0.10274237] [-0.06751815 0.99709852 0.03515448 -0.0274396 ] [-0.02985604 -0.03723829 0.99886031 -0.0267707 ] [ 0. 0. 0. 1. ]] SLAMing on 0.571652532 meters 0.3831406899431253 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:-0.03 [[ 0.99687281 0.06932619 0.0379272 -0.11694799] [-0.07060624 0.9969409 0.03352016 -0.03790451] [-0.03548735 -0.03609324 0.99871814 -0.02983428] [ 0. 0. 0. 1. ]] SLAMing on 0.601652532 meters 0.38183701159723177 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:-0.03 [[ 0.99683876 0.07355524 0.03003529 -0.1299963 ] [-0.07456942 0.99663022 0.03417034 -0.05949594] [-0.02742067 -0.03630203 0.9989646 -0.0304223 ] [ 0. 0. 0. 1. ]] SLAMing on 0.631652532 meters 0.3855369712719958 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:-0.03 [[ 0.9964209 0.07687133 0.03515942 -0.14349633] [-0.07804168 0.99639643 0.03322124 -0.07167804] [-0.03247896 -0.03584623 0.9988294 -0.03274877] [ 0. 0. 0. 1. ]] SLAMing on 0.661652532 meters 0.39083881975902823 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:-0.03 [[ 0.99612966 0.08388983 0.02623356 -0.15259128] [-0.08481955 0.99572389 0.03660023 -0.09179193] [-0.023051 -0.0386837 0.9989856 -0.03434575] [ 0. 0. 0. 1. ]] SLAMing on 0.691652532 meters 0.3964696620020404 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:-0.03 [[ 0.99553226 0.08909073 0.03127868 -0.16770281] [-0.09024062 0.99521349 0.03750644 -0.10619459] [-0.02778748 -0.04016148 0.99880674 -0.03495279] [ 0. 0. 0. 1. ]] SLAMing on 0.721652532 meters 0.3990590060398518 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:-0.03 [[ 0.99463729 0.09662115 0.03689202 -0.18326572] [-0.0981377 0.99429532 0.04178276 -0.11587476] [-0.03264447 -0.04517919 0.99844538 -0.03433151] [ 0. 0. 0. 1. ]] SLAMing on 0.751652532 meters 0.40772426228537356 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:-0.04 [[ 0.99397302 0.10140142 0.04165793 -0.19660106] [-0.1031836 0.99372714 0.04312205 -0.13090972] [-0.03702398 -0.04716057 0.99820093 -0.03526019] [ 0. 0. 0. 1. ]] SLAMing on 0.7816525320000001 meters 0.41536121976247015 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:-0.04 [[ 0.99393026 0.09983622 0.04621005 -0.20964204] [-0.10220947 0.99339187 0.0522093 -0.14409165] [-0.04069231 -0.05661551 0.99756645 -0.04387542] [ 0. 0. 0. 1. ]] SLAMing on 0.811652532 meters 0.40916677095703685 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:-0.04 [[ 0.99385707 0.10419517 0.03730269 -0.21996492] [-0.10607766 0.99296282 0.05265321 -0.16242839] [-0.03155398 -0.05628674 0.9979159 -0.0445308 ] [ 0. 0. 0. 1. ]] SLAMing on 0.841652532 meters 0.42137906240064094 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:-0.04 [[ 0.99238834 0.11525089 0.0433892 -0.24088159] [-0.11759952 0.99147239 0.05615022 -0.18710693] [-0.03654783 -0.06082537 0.99747909 -0.04203117] [ 0. 0. 0. 1. ]] SLAMing on 0.871652532 meters 0.4264114763675212 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:-0.04 [[ 0.99184382 0.11829254 0.04746267 -0.25366297] [-0.12092228 0.99102428 0.05699716 -0.20003146] [-0.04029432 -0.06227157 0.99724552 -0.04102773] [ 0. 0. 0. 1. ]] SLAMing on 0.901652532 meters 0.43100498953388466 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-0.04 [[ 0.99123192 0.12157888 0.05174797 -0.26663567] [-0.12450246 0.99054515 0.05761455 -0.21344193] [-0.04425398 -0.06355213 0.99699685 -0.04061006] [ 0. 0. 0. 1. ]] SLAMing on 0.931652532 meters 0.4350547373021616 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:-0.04 [[ 0.9911966 0.12387488 0.04673655 -0.28420532] [-0.12692097 0.98950382 0.06908872 -0.24223896] [-0.03768764 -0.07441235 0.99651515 -0.03970112] [ 0. 0. 0. 1. ]] SLAMing on 0.961652532 meters 0.4406328924196293 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.26, Z:-0.04 [[ 0.99088596 0.12887643 0.03919034 -0.29746456] [-0.1313779 0.98886556 0.06989102 -0.26079719] [-0.02974668 -0.07440277 0.99678451 -0.04216975] [ 0. 0. 0. 1. ]] SLAMing on 0.991652532 meters 0.4417461192320075 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.28, Z:-0.04 [[ 0.99076128 0.12858707 0.04309809 -0.31432743] [-0.13123288 0.98918328 0.0655314 -0.27813804] [-0.03420542 -0.07058186 0.99691935 -0.03965356] [ 0. 0. 0. 1. ]] SLAMing on 1.021652532 meters 0.4417461192320075 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.28, Z:-0.04 [[ 0.99111388 0.12581476 0.04317316 -0.31721456] [-0.12837798 0.98973014 0.06287564 -0.28075287] [-0.0348191 -0.06785941 0.99708712 -0.03786424] [ 0. 0. 0. 1. ]] SLAMing on 1.051652532 meters 0.4437045075014599 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.30, Z:-0.04 [[ 0.99139756 0.12567299 0.0365674 -0.3310997 ] [-0.12806985 0.98907834 0.07295313 -0.30414728] [-0.02699978 -0.07700873 0.99666477 -0.03532056] [ 0. 0. 0. 1. ]] SLAMing on 1.081652532 meters 0.44414122795582933 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.33, Z:-0.03 [[ 0.9907582 0.1289684 0.04201606 -0.35019952] [-0.13181167 0.98851367 0.07393517 -0.3250761 ] [-0.03199814 -0.07879008 0.99637756 -0.03105 ] [ 0. 0. 0. 1. ]] SLAMing on 1.111652532 meters 0.4432291822223665 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.33, Z:-0.03 [[ 0.99073151 0.12902886 0.04245729 -0.35351094] [-0.13193369 0.98843521 0.07476194 -0.3315378 ] [-0.03231983 -0.07967056 0.99629716 -0.02831914] [ 0. 0. 0. 1. ]] SLAMing on 1.141652532 meters 0.44399398423439546 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.34, Z:-0.02 [[ 0.99107284 0.12615542 0.04312128 -0.35943512] [-0.12905268 0.98896517 0.07275501 -0.34253983] [-0.033467 -0.07767043 0.99641721 -0.0245658 ] [ 0. 0. 0. 1. ]] SLAMing on 1.171652532 meters 0.4469000289649318 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.35, Z:-0.02 [[ 0.99143051 0.1231775 0.04350685 -0.36444031] [-0.12603553 0.98951345 0.07055621 -0.35344372] [-0.03435967 -0.07543499 0.99655857 -0.02125826] [ 0. 0. 0. 1. ]] SLAMing on 1.201652532 meters 0.43396326703027455 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:-0.03 [[ 0.99237023 0.11575642 0.04244737 -0.37341464] [-0.11872473 0.99003179 0.07577265 -0.36682402] [-0.03325307 -0.08023408 0.99622122 -0.02624353] [ 0. 0. 0. 1. ]] SLAMing on 1.231652532 meters 0.4410046481771415 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.37, Z:-0.03 [[ 0.99280546 0.11203241 0.04226188 -0.37463198] [-0.11487166 0.99075852 0.07212529 -0.36910197] [-0.03379095 -0.07646108 0.99649981 -0.02560724] [ 0. 0. 0. 1. ]] SLAMing on 1.261652532 meters 0.43393647820015147 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:-0.02 [[ 0.99318113 0.10859876 0.04239745 -0.37856494] [-0.11135806 0.99136117 0.06929951 -0.3783427 ] [-0.03450535 -0.07354826 0.99669455 -0.02275296] [ 0. 0. 0. 1. ]] SLAMing on 1.291652532 meters 0.43015200011929994 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:-0.02 [[ 0.99336812 0.10678549 0.04262205 -0.38101303] [-0.10951699 0.99166029 0.06794042 -0.38496608] [-0.03501155 -0.07215769 0.99677854 -0.02103428] [ 0. 0. 0. 1. ]] SLAMing on 1.3216525319999999 meters 0.4309493372792109 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.39, Z:-0.02 [[ 0.99332048 0.10697406 0.04325485 -0.38415409] [-0.10977641 0.99158259 0.06865209 -0.39074223] [-0.03554676 -0.07294189 0.99670252 -0.01922664] [ 0. 0. 0. 1. ]] SLAMing on 1.351652532 meters 0.42611085604031007 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.40, Z:-0.02 [[ 0.993292 0.10604844 0.04609483 -0.39526732] [-0.1089646 0.99184016 0.06618021 -0.40460256] [-0.03870039 -0.07075898 0.99674242 -0.01725532] [ 0. 0. 0. 1. ]] SLAMing on 1.381652532 meters 0.4261068341067455 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.43, Z:-0.02 [[ 0.99346621 0.10809318 0.03661636 -0.40512594] [-0.11031694 0.9917405 0.06542893 -0.4269247 ] [-0.02924151 -0.06904084 0.99718519 -0.01653626] [ 0. 0. 0. 1. ]] SLAMing on 1.411652532 meters 0.4238280324909931 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.45, Z:-0.02 [[ 0.99462302 0.09847123 0.03206974 -0.41723766] [-0.10050408 0.99250204 0.0695602 -0.44802918] [-0.0249796 -0.07240931 0.99706214 -0.0152848 ] [ 0. 0. 0. 1. ]] SLAMing on 1.441652532 meters 0.42046045910990093 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.46, Z:-0.01 [[ 0.99497784 0.0948341 0.03202485 -0.420606 ] [-0.09679425 0.99307879 0.06652365 -0.45701267] [-0.02549449 -0.06928938 0.99727078 -0.01238069] [ 0. 0. 0. 1. ]] SLAMing on 1.471652532 meters 0.416380232348488 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.46, Z:-0.01 [[ 0.99533286 0.09105973 0.03194734 -0.4221135 ] [-0.09292689 0.99368634 0.06286528 -0.45916806] [-0.02602114 -0.06554064 0.99751056 -0.01137568] [ 0. 0. 0. 1. ]] SLAMing on 1.501652532 meters 0.4221691227843879 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.46, Z:-0.01 [[ 0.99567248 0.08730925 0.03183417 -0.42347678] [-0.08908086 0.99425822 0.05928911 -0.46160549] [-0.0264749 -0.06186835 0.99773312 -0.01039618] [ 0. 0. 0. 1. ]] SLAMing on 1.531652532 meters 0.4090638807193639 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.46, Z:-0.01 [[ 0.99600616 0.08350959 0.03158911 -0.42440443] [-0.08517434 0.99481075 0.05564984 -0.46383957] [-0.02677789 -0.05811816 0.99795051 -0.00948964] [ 0. 0. 0. 1. ]] SLAMing on 1.561652532 meters 0.4084489872213053 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.47, Z:-0.01 [[ 0.99630727 0.07992131 0.03137513 -0.42520517] [-0.08148841 0.99529958 0.05232954 -0.46714637] [-0.02704541 -0.05469301 0.99813687 -0.00879821] [ 0. 0. 0. 1. ]] SLAMing on 1.591652532 meters 0.40099513283131955 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.00 [[ 0.99662273 0.07607809 0.03090728 -0.42842552] [-0.07754876 0.99575621 0.04955558 -0.47677499] [-0.02700602 -0.05178504 0.99829304 -0.00422903] [ 0. 0. 0. 1. ]] SLAMing on 1.621652532 meters 0.3980118215183523 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.48, Z:-0.00 [[ 0.99687446 0.07278288 0.03072385 -0.42999086] [-0.07417072 0.99614923 0.0467484 -0.48125271] [-0.02720306 -0.0488811 0.99843409 -0.00243997] [ 0. 0. 0. 1. ]] SLAMing on 1.651652532 meters 0.3935022506524916 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.49, Z:0.00 [[ 0.99718327 0.068444 0.03067497 -0.43332455] [-0.06973712 0.9966261 0.04327998 -0.48890663] [-0.02760922 -0.04529726 0.99859195 0.00106423] [ 0. 0. 0. 1. ]] SLAMing on 1.681652532 meters 0.3870923883166775 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.50, Z:0.00 [[ 0.99818379 0.05808455 0.01597822 -0.43143176] [-0.05868054 0.99748406 0.03977623 -0.50127902] [-0.01362764 -0.0406416 0.99908085 0.00173111] [ 0. 0. 0. 1. ]] SLAMing on 1.711652532 meters 0.377253686654362 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.50, Z:0.00 [[ 0.99859111 0.05047328 0.0163782 -0.43410539] [-0.05098297 0.99817518 0.032358 -0.5046 ] [-0.01471509 -0.03314742 0.99934214 0.00260392] [ 0. 0. 0. 1. ]] SLAMing on 1.741652532 meters 0.3745812913138476 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.51, Z:0.00 [[ 0.99878083 0.04666645 0.01609655 -0.43447304] [-0.04711636 0.99847395 0.02880656 -0.50709229] [-0.01472769 -0.02952985 0.99945539 0.00338713] [ 0. 0. 0. 1. ]] SLAMing on 1.771652532 meters 0.37001952017519624 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:0.00 [[ 0.9989436 0.04304116 0.01609807 -0.43545276] [-0.04344262 0.99873093 0.02548067 -0.51028463] [-0.01498093 -0.02615309 0.99954569 0.0040651 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8016525319999999 meters 0.36322611692851053 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:0.00 [[ 0.99923935 0.03523919 0.01670088 -0.43797966] [-0.03553356 0.99921226 0.01766987 -0.51216507] [-0.01606505 -0.01824987 0.99970438 0.00446641] [ 0. 0. 0. 1. ]] SLAMing on 1.8316525319999999 meters 0.3728618753940014 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.51, Z:0.01 [[ 0.99936103 0.03140196 0.01707197 -0.43967172] [-0.03164126 0.99940218 0.01393228 -0.51403984] [-0.01662426 -0.01446355 0.99975719 0.00502949] [ 0. 0. 0. 1. ]] SLAMing on 1.861652532 meters 0.3637500178850459 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.52, Z:0.00 [[ 0.99965727 0.02539073 0.00637541 -0.44254379] [-0.02549391 0.9995361 0.01666248 -0.5236265 ] [-0.00594938 -0.01681931 0.99984085 0.00309173] [ 0. 0. 0. 1. ]] SLAMing on 1.891652532 meters 0.3590153195746563 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.53, Z:0.00 [[ 0.9997466 0.02154611 0.00651908 -0.44351431] [-0.02162965 0.99968115 0.01302878 -0.52586998] [-0.00623628 -0.01316648 0.99989387 0.00358175] [ 0. 0. 0. 1. ]] SLAMing on 1.921652532 meters 0.3534438050631258 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.53, Z:0.00 [[ 0.99983607 0.01714747 0.00581292 -0.44260334] [-0.01719843 0.99981308 0.00883248 -0.52625073] [-0.00566038 -0.00893101 0.9999441 0.00459814] [ 0. 0. 0. 1. ]] SLAMing on 1.951652532 meters 0.3466032011145495 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.53, Z:0.01 [[ 0.99989172 0.01341522 0.00604783 -0.4437646 ] [-0.0134478 0.99989511 0.005379 -0.52901037] [-0.00597503 -0.00545975 0.99996724 0.00518068] [ 0. 0. 0. 1. ]] SLAMing on 1.981652532 meters 0.35006981410802207 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.53, Z:0.01 [[ 0.99989733 0.01330149 0.00533006 -0.44300795] [-0.01333166 0.99989507 0.00566654 -0.52984707] [-0.00525413 -0.00573701 0.99996974 0.00678366] [ 0. 0. 0. 1. ]] SLAMing on 2.011652532 meters 0.3404199396440729 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:0.01 [[ 0.99993111 0.00988876 0.0063231 -0.44609134] [-0.00990396 0.99994813 0.00237728 -0.53249867] [-0.00629927 -0.00243974 0.99997718 0.00744922] [ 0. 0. 0. 1. ]] SLAMing on 2.041652532 meters 0.3531811262251231 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.53, Z:0.01 [[ 0.99993062 0.00989504 0.00639063 -0.4459431 ] [-0.00991026 0.99994812 0.00235564 -0.53248963] [-0.00636699 -0.00241881 0.99997681 0.00699741] [ 0. 0. 0. 1. ]] SLAMing on 2.071652532 meters 0.3434345527090565 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:0.01 [[ 9.99942158e-01 7.83901483e-03 7.36409298e-03 -4.48822597e-01] [-7.84041008e-03 9.99969251e-01 1.60615252e-04 -5.36777008e-01] [-7.36260747e-03 -2.18343470e-04 9.99972872e-01 7.37446678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101652532 meters 0.3373008780907845 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:0.01 [[ 9.99939196e-01 7.88099031e-03 7.71321750e-03 -4.49676918e-01] [-7.88246332e-03 9.99968920e-01 1.60589734e-04 -5.36828443e-01] [-7.71171217e-03 -2.21379124e-04 9.99970240e-01 7.30237802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.131652532 meters 0.3431184758326209 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.54, Z:0.01 [[ 0.9999025 0.01026806 0.00946357 -0.45434285] [-0.01028661 0.99994526 0.00191397 -0.53950557] [-0.0094434 -0.00201113 0.99995339 0.00765176] [ 0. 0. 0. 1. ]] SLAMing on 2.161652532 meters 0.34815377635930234 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:0.01 [[ 0.99988129 0.01093051 0.01085958 -0.45707282] [-0.01095308 0.99993797 0.00202119 -0.53973847] [-0.01083681 -0.0021399 0.99993899 0.00644955] [ 0. 0. 0. 1. ]] SLAMing on 2.191652532 meters 0.35711446565385163 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:0.01 [[ 0.9998607 0.01122886 0.01234899 -0.46000752] [-0.01124928 0.99993547 0.00158488 -0.53850597] [-0.0123304 -0.00172358 0.99992249 0.00519709] [ 0. 0. 0. 1. ]] SLAMing on 2.221652532 meters 0.3711863956993238 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.54, Z:0.00 [[ 0.99983742 0.01162401 0.01378482 -0.46291506] [-0.01164295 0.99993138 0.00129507 -0.53761193] [-0.01376882 -0.00145535 0.99990415 0.00413724] [ 0. 0. 0. 1. ]] SLAMing on 2.251652532 meters 0.3658103433703011 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:0.00 [[ 0.99975142 0.01656059 0.01492813 -0.46542258] [-0.01664977 0.99984415 0.00586969 -0.53802188] [-0.0148286 -0.00611678 0.99987134 0.0036683 ] [ 0. 0. 0. 1. ]] SLAMing on 2.281652532 meters 0.36793646080100356 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:0.00 [[ 0.99970234 0.01804407 0.01642078 -0.4695126 ] [-0.0181616 0.9998103 0.00703667 -0.54073619] [-0.01629069 -0.0073328 0.99984041 0.00408042] [ 0. 0. 0. 1. ]] SLAMing on 2.311652532 meters 0.37805901055790786 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.54, Z:0.00 [[ 0.9995976 0.02242722 0.0173683 -0.47140996] [-0.02262575 0.99967992 0.01131937 -0.5407435 ] [-0.01710888 -0.01170779 0.99978508 0.00364301] [ 0. 0. 0. 1. ]] SLAMing on 2.341652532 meters 0.3993346175626421 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.54, Z:0.00 [[ 0.99951197 0.02460866 0.0192414 -0.47621702] [-0.02486071 0.99960676 0.01297165 -0.54409945] [-0.01891462 -0.01344368 0.99973072 0.00378226] [ 0. 0. 0. 1. ]] SLAMing on 2.371652532 meters 0.39163683675533967 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.55, Z:-0.00 [[ 0.99936188 0.0343076 0.00994048 -0.47915377] [-0.03445312 0.99929586 0.01485848 -0.55319822] [-0.00942372 -0.01519148 0.99984019 -0.0010242 ] [ 0. 0. 0. 1. ]] SLAMing on 2.401652532 meters 0.394848750977517 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.56, Z:-0.00 [[ 9.99343562e-01 3.44461324e-02 1.12209237e-02 -4.82933905e-01] [-3.46093011e-02 9.99292992e-01 1.46871637e-02 -5.60375085e-01] [-1.07070745e-02 -1.50658709e-02 9.99829174e-01 -8.38587301e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4316525319999998 meters 0.39658965528076795 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.56, Z:-0.00 [[ 9.99318199e-01 3.51111248e-02 1.14169296e-02 -4.83469044e-01] [-3.52862984e-02 9.99256696e-01 1.55220026e-02 -5.62819704e-01] [-1.08634484e-02 -1.59142809e-02 9.99814343e-01 -9.76203903e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461652532 meters 0.401007442853546 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.57, Z:-0.00 [[ 9.99281084e-01 3.60568374e-02 1.17141146e-02 -4.84674571e-01] [-3.62510678e-02 9.99201244e-01 1.68147203e-02 -5.66573193e-01] [-1.10984722e-02 -1.72272811e-02 9.99790000e-01 -5.42196198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.491652532 meters 0.4068105228099618 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.57, Z:-0.00 [[ 9.99249548e-01 3.66330395e-02 1.25841408e-02 -4.86883855e-01] [-3.68491300e-02 9.99169488e-01 1.73918223e-02 -5.68354740e-01] [-1.19365742e-02 -1.78424852e-02 9.99769555e-01 -4.97518155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521652532 meters 0.4089325769855035 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.57, Z:-0.00 [[ 9.99321103e-01 3.42138511e-02 1.36654661e-02 -4.90313045e-01] [-3.44186133e-02 9.99294318e-01 1.50408052e-02 -5.73327008e-01] [-1.31412188e-02 -1.55009404e-02 9.99793493e-01 -4.80381815e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.551652532 meters 0.39759790703324416 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.58, Z:0.00 [[ 9.99404554e-01 3.12190161e-02 1.46938722e-02 -4.93768321e-01] [-3.14003270e-02 9.99431515e-01 1.22745900e-02 -5.77777122e-01] [-1.43023184e-02 -1.27286736e-02 9.99816695e-01 5.52525605e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581652532 meters 0.4124129922548602 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.58, Z:0.00 [[ 9.99395873e-01 3.14185556e-02 1.48580778e-02 -4.94320641e-01] [-3.16062631e-02 9.99421328e-01 1.25719060e-02 -5.78794766e-01] [-1.44544887e-02 -1.30339193e-02 9.99810574e-01 7.15998500e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.611652532 meters 0.4028409409551448 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.59, Z:-0.01 [[ 0.99947576 0.0279091 0.01641012 -0.50399212] [-0.02824112 0.99939374 0.02036146 -0.59153217] [-0.0158319 -0.02081422 0.999658 -0.00703519] [ 0. 0. 0. 1. ]] SLAMing on 2.6416525319999997 meters 0.4031785982174083 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.59, Z:-0.01 [[ 0.99954438 0.02465822 0.01740676 -0.506786 ] [-0.02495741 0.99954079 0.01718528 -0.59492657] [-0.016975 -0.01761188 0.99970079 -0.00699455] [ 0. 0. 0. 1. ]] SLAMing on 2.671652532 meters 0.40079665093047084 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.01 [[ 0.9996079 0.02140446 0.01805284 -0.50893061] [-0.02166221 0.99966443 0.01420449 -0.5989801 ] [-0.01774274 -0.01458999 0.99973613 -0.00665274] [ 0. 0. 0. 1. ]] SLAMing on 2.7016525319999998 meters 0.4036015577995509 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.01 [[ 0.99964876 0.01831284 0.019157 -0.51190243] [-0.01852876 0.9997661 0.01115472 -0.60191281] [-0.01894824 -0.01150576 0.99975426 -0.0064096 ] [ 0. 0. 0. 1. ]] SLAMing on 2.731652532 meters 0.40923426629134213 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.00 [[ 0.99984993 0.01684266 0.00405374 -0.50801827] [-0.01687905 0.99981598 0.00911577 -0.60322237] [-0.00389946 -0.00918283 0.99995023 -0.00452297] [ 0. 0. 0. 1. ]] SLAMing on 2.761652532 meters 0.3982680615034702 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.00 [[ 0.99990766 0.01259906 0.00509222 -0.51115435] [-0.0126228 0.99990948 0.004657 -0.60278101] [-0.00503308 -0.00472084 0.99997619 -0.00397804] [ 0. 0. 0. 1. ]] SLAMing on 2.791652532 meters 0.390016220871574 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.00 [[ 9.99944492e-01 8.68106827e-03 5.97091358e-03 -5.13672795e-01] [-8.68543817e-03 9.99962031e-01 7.06323164e-04 -6.03998713e-01] [-5.96455524e-03 -7.58143958e-04 9.99981924e-01 -3.71146925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821652532 meters 0.3948887772325811 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.00 [[ 9.99946433e-01 8.60771058e-03 5.74789310e-03 -5.13165561e-01] [-8.61158562e-03 9.99962709e-01 6.49759135e-04 -6.03771630e-01] [-5.74208582e-03 -6.99222803e-04 9.99983270e-01 -3.61189043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851652532 meters 0.39331868929695957 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.60, Z:-0.00 [[ 9.99947842e-01 8.59353211e-03 5.51950512e-03 -5.12809911e-01] [-8.59744839e-03 9.99962806e-01 6.86198670e-04 -6.03811413e-01] [-5.51340296e-03 -7.33616539e-04 9.99984532e-01 -3.28491295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881652532 meters 0.39292097750704974 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.61, Z:-0.00 [[ 9.99953938e-01 8.02601664e-03 5.26350993e-03 -5.14530900e-01] [-8.03234277e-03 9.99967042e-01 1.18184917e-03 -6.10436944e-01] [-5.25385092e-03 -1.22407305e-03 9.99985449e-01 -3.28075376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9116525319999997 meters 0.39292097750704974 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.61, Z:-0.00 [[ 9.99953938e-01 8.02601664e-03 5.26350993e-03 -5.14530900e-01] [-8.03234277e-03 9.99967042e-01 1.18184917e-03 -6.10436944e-01] [-5.25385092e-03 -1.22407305e-03 9.99985449e-01 -3.28075376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941652532 meters 0.3904013722198801 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.61, Z:-0.00 [[ 9.99953651e-01 8.13103607e-03 5.15570157e-03 -5.14352497e-01] [-8.13827808e-03 9.99965924e-01 1.38524046e-03 -6.11085465e-01] [-5.14426245e-03 -1.42713479e-03 9.99985750e-01 -2.11680962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.971652532 meters 0.3886764897443226 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.61, Z:0.00 [[ 9.99954200e-01 8.25713082e-03 4.83925895e-03 -5.13804137e-01] [-8.26529219e-03 9.99964449e-01 1.66892593e-03 -6.11965945e-01] [-4.82530637e-03 -1.70884738e-03 9.99986898e-01 1.41913427e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001652532 meters 0.394090403322063 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.61, Z:0.00 [[ 9.99955928e-01 8.35138921e-03 4.28909921e-03 -5.12622118e-01] [-8.35988843e-03 9.99963120e-01 1.96749474e-03 -6.12871164e-01] [-4.27250972e-03 -2.00326442e-03 9.99988866e-01 4.54063498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.031652532 meters 0.385951730433271 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99981519e-01 4.86264306e-03 3.64921391e-03 -5.11675032e-01] [-4.85896202e-03 9.99987678e-01 -1.01690972e-03 -6.17044699e-01] [-3.65411381e-03 9.99159531e-04 9.99992825e-01 1.22055346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061652532 meters 0.3844014514321914 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99983959e-01 4.88109802e-03 2.87349562e-03 -5.09988196e-01] [-4.87886704e-03 9.99987792e-01 -7.82896874e-04 -6.17672697e-01] [-2.87728194e-03 7.68864912e-04 9.99995565e-01 1.62979480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.091652532 meters 0.39006740753678504 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99985506e-01 4.89514044e-03 2.24179678e-03 -5.08810923e-01] [-4.89390825e-03 9.99987871e-01 -5.54799610e-04 -6.18267345e-01] [-2.24448541e-03 5.43820421e-04 9.99997333e-01 2.25911149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121652532 meters 0.37775702849527204 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99988337e-01 4.64066148e-03 1.33800712e-03 -5.07290391e-01] [-4.63998660e-03 9.99989107e-01 -5.07056324e-04 -6.18286306e-01] [-1.34034563e-03 5.00842075e-04 9.99998976e-01 3.42218430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151652532 meters 0.3921982135120758 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99999511e-01 3.31121137e-04 9.31701007e-04 -5.07553815e-01] [-3.26920691e-04 9.99989799e-01 -4.50490902e-03 -6.19124498e-01] [-9.33183174e-04 4.50460223e-03 9.99989419e-01 5.26160058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1816525319999998 meters 0.37888899190609376 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 9.99995361e-01 -2.96178644e-03 -7.11064613e-04 -5.04438827e-01] [ 2.95659297e-03 9.99969730e-01 -7.19699100e-03 -6.13928908e-01] [ 7.32359040e-04 7.19485528e-03 9.99973849e-01 6.81094494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211652532 meters 0.37583693788154793 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998973 -0.00392284 -0.00227016 -0.50107193] [ 0.00390557 0.99996377 -0.00756282 -0.61341613] [ 0.00229974 0.00755388 0.99996882 0.00767187] [ 0. 0. 0. 1. ]] SLAMing on 3.241652532 meters 0.3563957458118362 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998476 -0.00443004 -0.00329347 -0.49825775] [ 0.00440377 0.99995877 -0.00794156 -0.61251352] [ 0.00332851 0.00792693 0.99996304 0.00736306] [ 0. 0. 0. 1. ]] SLAMing on 3.271652532 meters 0.3558284292087151 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998217 -0.00459446 -0.00381348 -0.49662945] [ 0.00456349 0.99995686 -0.00809042 -0.61195556] [ 0.00385049 0.00807287 0.99996 0.00693525] [ 0. 0. 0. 1. ]] SLAMing on 3.301652532 meters 0.35704313108814867 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 9.99989267e-01 -3.96059671e-04 -4.61612077e-03 -4.95088363e-01] [ 3.78903813e-04 9.99993021e-01 -3.71679190e-03 -6.11933487e-01] [ 4.61756063e-03 3.71500294e-03 9.99982438e-01 7.62097065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331652532 meters 0.360610476621554 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99978815e-01 3.75354465e-03 -5.31787393e-03 -4.93552949e-01] [-3.75042965e-03 9.99992790e-01 5.95611160e-04 -6.11757931e-01] [ 5.32007124e-03 -5.75654231e-04 9.99985683e-01 8.11841928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.361652532 meters 0.35871299451770694 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99978304e-01 3.89595873e-03 -5.31160505e-03 -4.94114268e-01] [-3.89149856e-03 9.99992067e-01 8.49779230e-04 -6.12479966e-01] [ 5.31487362e-03 -8.29090690e-04 9.99985532e-01 8.89306473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3916525319999997 meters 0.36055174982417415 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99979990e-01 3.23995482e-03 -5.43345769e-03 -4.92921525e-01] [-3.24062064e-03 9.99994743e-01 -1.13740616e-04 -6.09709002e-01] [ 5.43306061e-03 1.31346116e-04 9.99985232e-01 7.80659385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421652532 meters 0.3907778955580702 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99981437e-01 2.99487383e-03 -5.30624250e-03 -4.92385040e-01] [-2.99765437e-03 9.99995374e-01 -5.16137927e-04 -6.08693601e-01] [ 5.30467219e-03 5.32034627e-04 9.99985789e-01 6.68356391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4516525319999998 meters 0.3699600506295041 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99983463e-01 2.96277166e-03 -4.92902894e-03 -4.92777708e-01] [-2.96627972e-03 9.99995352e-01 -7.04556371e-04 -6.08282788e-01] [ 4.92691859e-03 7.19165598e-04 9.99987604e-01 5.88981349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481652532 meters 0.3770390620746998 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 0.99996128 0.00745137 -0.00468126 -0.49313943] [-0.00743378 0.99996528 0.00376401 -0.60881649] [ 0.00470915 -0.00372907 0.99998196 0.00558042] [ 0. 0. 0. 1. ]] SLAMing on 3.511652532 meters 0.3794115246274503 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 0.99996031 0.00771452 -0.00445669 -0.49394971] [-0.00769608 0.99996182 0.00413948 -0.61006255] [ 0.00448846 -0.00410501 0.9999815 0.00589128] [ 0. 0. 0. 1. ]] SLAMing on 3.541652532 meters 0.3788004525120132 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 0.99996101 0.00753279 -0.00460727 -0.4941328 ] [-0.00751466 0.99996401 0.00393859 -0.60927122] [ 0.00463677 -0.00390381 0.99998163 0.00679791] [ 0. 0. 0. 1. ]] SLAMing on 3.571652532 meters 0.38131215606717017 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 0.99996205 0.00748968 -0.0044512 -0.49464208] [-0.00747258 0.99996469 0.00384457 -0.6089561 ] [ 0.00447984 -0.00381117 0.9999827 0.00698521] [ 0. 0. 0. 1. ]] SLAMing on 3.6016525319999997 meters 0.3870829634583549 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 0.99996289 0.00725492 -0.00464647 -0.49343267] [-0.00723851 0.99996754 0.00353826 -0.60816936] [ 0.00467199 -0.00350449 0.99998295 0.00602335] [ 0. 0. 0. 1. ]] SLAMing on 3.631652532 meters 0.3865047252678769 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99987047e-01 2.96345235e-03 -4.13818016e-03 -4.94609084e-01] [-2.96707821e-03 9.99995219e-01 -8.70333577e-04 -6.08051636e-01] [ 4.13558118e-03 8.82600607e-04 9.99991059e-01 5.75972147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6616525319999997 meters 0.38758339672082165 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99985365e-01 2.91552352e-03 -4.55729819e-03 -4.93780652e-01] [-2.91933199e-03 9.99995395e-01 -8.29257112e-04 -6.08096719e-01] [ 4.55485948e-03 8.42549242e-04 9.99989272e-01 6.12448627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691652532 meters 0.3918141488957752 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.61, Z:0.01 [[ 9.99983576e-01 3.14006466e-03 -4.79453472e-03 -4.93538755e-01] [-3.14210252e-03 9.99994976e-01 -4.17563440e-04 -6.09372972e-01] [ 4.79319946e-03 4.32621502e-04 9.99988419e-01 6.60675582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.721652532 meters 0.39998860871000996 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998286 0.00462244 -0.0035931 -0.4969995 ] [-0.00461872 0.99998879 0.00104381 -0.61226907] [ 0.00359788 -0.0010272 0.999993 0.00734778] [ 0. 0. 0. 1. ]] SLAMing on 3.751652532 meters 0.41035189014725987 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998431 0.0050511 -0.00241998 -0.49970802] [-0.00504816 0.99998651 0.00122171 -0.61298122] [ 0.00242612 -0.00120947 0.99999633 0.00691009] [ 0. 0. 0. 1. ]] SLAMing on 3.781652532 meters 0.4191066714974779 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 0.99998471 0.00533132 -0.00147073 -0.50154063] [-0.00532947 0.999985 0.00126097 -0.61338032] [ 0.00147743 -0.00125311 0.99999812 0.00600014] [ 0. 0. 0. 1. ]] SLAMing on 3.811652532 meters 0.4219591390167882 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.61, Z:0.01 [[ 9.99984669e-01 5.47950145e-03 -7.98138562e-04 -5.02754624e-01] [-5.47851336e-03 9.99984230e-01 1.23497354e-03 -6.13528533e-01] [ 8.04893014e-04 -1.23058200e-03 9.99998919e-01 5.24942826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841652532 meters 0.43435617155012196 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99973786e-01 7.23241367e-03 3.45565182e-04 -5.05102455e-01] [-7.23327735e-03 9.99970544e-01 2.56710251e-03 -6.16403311e-01] [-3.26988656e-04 -2.56953478e-03 9.99996645e-01 4.40023749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8716525319999997 meters 0.44812085148338954 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99997223 0.00735916 0.00117608 -0.50685356] [-0.00736202 0.9999699 0.00245007 -0.61622265] [-0.00115801 -0.00245866 0.99999631 0.00387318] [ 0. 0. 0. 1. ]] SLAMing on 3.901652532 meters 0.45053130789414686 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99996818 0.00767344 0.0021817 -0.50919766] [-0.00767895 0.99996732 0.00252761 -0.61661348] [-0.00216223 -0.00254428 0.99999443 0.00354252] [ 0. 0. 0. 1. ]] SLAMing on 3.9316525319999998 meters 0.45782175477380815 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99994901 0.0093108 0.00391012 -0.51324876] [-0.00932552 0.99994943 0.00376492 -0.61903014] [-0.00387486 -0.00380119 0.99998527 0.00324749] [ 0. 0. 0. 1. ]] SLAMing on 3.961652532 meters 0.4646960710701991 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99994591 0.00955211 0.00411532 -0.51367283] [-0.00956896 0.99994584 0.00409334 -0.62022591] [-0.00407599 -0.0041325 0.99998315 0.00305861] [ 0. 0. 0. 1. ]] SLAMing on 3.991652532 meters 0.4704763898918163 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99994904 0.00939696 0.00369016 -0.51281636] [-0.00941179 0.99994762 0.00402295 -0.61987132] [-0.00365216 -0.00405748 0.9999851 0.00345238] [ 0. 0. 0. 1. ]] SLAMing on 4.021652531999999 meters 0.4648217665012968 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 0.99995154 0.00937624 0.00300016 -0.51164577] [-0.00938904 0.99994676 0.00428074 -0.62047178] [-0.00295986 -0.0043087 0.99998634 0.0043285 ] [ 0. 0. 0. 1. ]] SLAMing on 4.051652531999999 meters 0.4741999932353035 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 0.99998008 0.00589859 0.00224469 -0.51109554] [-0.00590178 0.99998158 0.0014145 -0.62488211] [-0.00223631 -0.00142772 0.99999648 0.0059519 ] [ 0. 0. 0. 1. ]] SLAMing on 4.081652532 meters 0.4750892281222044 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99998104 0.00587282 0.00185312 -0.51041249] [-0.00587559 0.99998163 0.0014918 -0.6250229 ] [-0.00184433 -0.00150266 0.99999717 0.00643747] [ 0. 0. 0. 1. ]] SLAMing on 4.111652531999999 meters 0.437389461599399 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.9999805 0.005925 0.00197438 -0.51066318] [-0.00592804 0.99998125 0.00153813 -0.62522249] [-0.00196523 -0.00154981 0.99999687 0.00635121] [ 0. 0. 0. 1. ]] SLAMing on 4.141652531999999 meters 0.4450866041270384 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99979596e-01 5.66925923e-03 2.94384481e-03 -5.11987882e-01] [-5.67145868e-03 9.99983644e-01 7.39327320e-04 -6.22997019e-01] [-2.93960522e-03 -7.56008129e-04 9.99995394e-01 4.84196384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1716525319999995 meters 0.4477320652539051 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99979755e-01 5.48299279e-03 3.22898792e-03 -5.12252279e-01] [-5.48416377e-03 9.99984899e-01 3.53904325e-04 -6.21851731e-01] [-3.22699870e-03 -3.71605459e-04 9.99994724e-01 4.24160964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201652532 meters 0.4544314295904727 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99980270e-01 5.21140287e-03 3.50739941e-03 -5.12701455e-01] [-5.21087862e-03 9.99986411e-01 -1.58593414e-04 -6.20170062e-01] [-3.50817824e-03 1.40313653e-04 9.99993836e-01 3.93899720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231652531999999 meters 0.46916445230142795 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99979066e-01 5.27102718e-03 3.75271767e-03 -5.13596434e-01] [-5.27061171e-03 9.99986103e-01 -1.20593279e-04 -6.20250889e-01] [-3.75330117e-03 1.00811637e-04 9.99992951e-01 4.32459568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261652531999999 meters 0.46386534876906776 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99976660e-01 5.55741817e-03 3.97436021e-03 -5.14600391e-01] [-5.55856997e-03 9.99984512e-01 2.78819589e-04 -6.21489125e-01] [-3.97274914e-03 -3.00904841e-04 9.99992063e-01 4.92643288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291652532 meters 0.4689882961006176 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 0.999974 0.00623085 0.00363093 -0.51468209] [-0.00623594 0.99997959 0.00139 -0.62489028] [-0.0036222 -0.0014126 0.99999244 0.00614776] [ 0. 0. 0. 1. ]] SLAMing on 4.321652532 meters 0.47442363300069884 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99997336 0.00644999 0.00341848 -0.5145176 ] [-0.00645618 0.99997753 0.00180315 -0.62617065] [-0.00340677 -0.00182517 0.99999253 0.00663849] [ 0. 0. 0. 1. ]] SLAMing on 4.351652531999999 meters 0.4776999346825485 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99997389 0.00644226 0.00327356 -0.51429501] [-0.00644828 0.99997753 0.00183105 -0.62621494] [-0.00326169 -0.00185211 0.99999297 0.00686648] [ 0. 0. 0. 1. ]] SLAMing on 4.3816525319999995 meters 0.48496752760659584 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.9999755 0.00624687 0.00315971 -0.51377831] [-0.00625181 0.99997925 0.00155548 -0.62532279] [-0.00314993 -0.0015752 0.9999938 0.00660062] [ 0. 0. 0. 1. ]] SLAMing on 4.411652532 meters 0.49195877754868567 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 0.999978 0.00599592 0.00283614 -0.51273078] [-0.00599951 0.99998121 0.00125939 -0.6243884 ] [-0.00282854 -0.00127638 0.99999519 0.00633544] [ 0. 0. 0. 1. ]] SLAMing on 4.441652531999999 meters 0.4701000447025895 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99980266e-01 5.65959096e-03 2.72689898e-03 -5.11981395e-01] [-5.66162507e-03 9.99983700e-01 7.38799823e-04 -6.22733527e-01] [-2.72267322e-03 -7.54223923e-04 9.99996009e-01 5.74276502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471652531999999 meters 0.5058139187619253 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99980407e-01 5.63366572e-03 2.72915593e-03 -5.11853802e-01] [-5.63558392e-03 9.99983878e-01 6.95676200e-04 -6.22616593e-01] [-2.72519273e-03 -7.11042957e-04 9.99996034e-01 5.55247007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501652532 meters 0.515073360284042 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99979012e-01 5.72628280e-03 3.03066723e-03 -5.12514295e-01] [-5.72856404e-03 9.99983314e-01 7.44572824e-04 -6.22855918e-01] [-3.02635303e-03 -7.61918568e-04 9.99995130e-01 5.39694028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531652532 meters 0.5087744012685098 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99975837e-01 5.95011999e-03 3.59476560e-03 -5.13905568e-01] [-5.95350899e-03 9.99981843e-01 9.32794530e-04 -6.23572043e-01] [-3.58915009e-03 -9.54173460e-04 9.99993104e-01 5.33171328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561652531999999 meters 0.4410055873690232 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.00 [[ 0.99996811 0.00652239 0.00460841 -0.51601648] [-0.00652925 0.9999776 0.00147513 -0.62535577] [-0.00459868 -0.00150517 0.99998829 0.00471814] [ 0. 0. 0. 1. ]] SLAMing on 4.5916525319999995 meters 0.5224636885111401 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.00 [[ 0.99996812 0.00651866 0.00461231 -0.51584377] [-0.00652546 0.99997764 0.00146124 -0.62535855] [-0.00460268 -0.00149129 0.9999883 0.00444908] [ 0. 0. 0. 1. ]] SLAMing on 4.621652532 meters 0.46484814261530244 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 0.99996804 0.00639113 0.00480288 -0.51609594] [-0.00639677 0.99997887 0.00115883 -0.62438445] [-0.00479537 -0.00118952 0.99998779 0.00415611] [ 0. 0. 0. 1. ]] SLAMing on 4.651652531999999 meters 0.4569200939430703 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.00 [[ 0.9999656 0.00658244 0.00504617 -0.51671443] [-0.00658959 0.99997731 0.00140084 -0.62525797] [-0.00503683 -0.00143405 0.99998629 0.00412356] [ 0. 0. 0. 1. ]] SLAMing on 4.681652531999999 meters 0.4562794579656418 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 0.99996472 0.00649874 0.00532123 -0.5174754 ] [-0.00650519 0.99997813 0.00119561 -0.62456768] [-0.00531335 -0.00123019 0.99998513 0.00424289] [ 0. 0. 0. 1. ]] SLAMing on 4.711652532 meters 0.4557533698683178 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 0.99996439 0.00649149 0.00539293 -0.51755114] [-0.00649788 0.99997821 0.00116916 -0.6245123 ] [-0.00538523 -0.00120416 0.99998477 0.00409474] [ 0. 0. 0. 1. ]] SLAMing on 4.741652532 meters 0.45491258907006243 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 0.9999649 0.00647657 0.00531584 -0.51724906] [-0.0064828 0.99997832 0.00115531 -0.62447621] [-0.00530824 -0.00118973 0.9999852 0.00394255] [ 0. 0. 0. 1. ]] SLAMing on 4.771652531999999 meters 0.4642623816115337 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 9.99970187e-01 6.06095159e-03 4.78436712e-03 -5.15930849e-01] [-6.06447281e-03 9.99981350e-01 7.21820661e-04 -6.23048656e-01] [-4.77990297e-03 -7.50813805e-04 9.99988294e-01 4.05011305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801652531999999 meters 0.47121189527852203 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 9.99972893e-01 5.91458569e-03 4.38541284e-03 -5.15107295e-01] [-5.91734152e-03 9.99982303e-01 6.15699989e-04 -6.22600572e-01] [-4.38169362e-03 -6.41633285e-04 9.99990194e-01 4.37131025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831652532 meters 0.47121189527852203 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.62, Z:0.00 [[ 9.99972893e-01 5.91458569e-03 4.38541284e-03 -5.15107295e-01] [-5.91734152e-03 9.99982303e-01 6.15699989e-04 -6.22600572e-01] [-4.38169362e-03 -6.41633285e-04 9.99990194e-01 4.37131025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861652531999999 meters 0.4528864756669549 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.00 [[ 9.99974629e-01 5.96553008e-03 3.89283296e-03 -5.14139690e-01] [-5.96884469e-03 9.99981833e-01 8.40402333e-04 -6.23210845e-01] [-3.88774880e-03 -8.63616726e-04 9.99992070e-01 4.74904301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891652531999999 meters 0.48086943057636583 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 0.99999196 0.00148127 0.00372526 -0.51450316] [-0.00146771 0.9999923 -0.00364006 -0.62256089] [-0.00373062 0.00363456 0.99998644 0.00588347] [ 0. 0. 0. 1. ]] SLAMing on 4.9216525319999995 meters 0.48155948589772857 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 0.99999368 0.00154049 0.00320477 -0.51328155] [-0.00152959 0.99999305 -0.00339982 -0.62328886] [-0.00320998 0.0033949 0.99998909 0.00598882] [ 0. 0. 0. 1. ]] SLAMing on 4.951652532 meters 0.4997510668181862 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99999323 0.00186454 0.00317299 -0.51320454] [-0.00185543 0.99999415 -0.00287337 -0.62505999] [-0.00317833 0.00286746 0.99999084 0.00589834] [ 0. 0. 0. 1. ]] SLAMing on 4.981652531999999 meters 0.4350851945429871 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99998956 0.00237881 0.00390261 -0.515557 ] [-0.00236958 0.99999439 -0.00236787 -0.62635187] [-0.00390822 0.0023586 0.99998958 0.00655097] [ 0. 0. 0. 1. ]] SLAMing on 5.011652531999999 meters 0.44865778708136245 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99998861 0.00258655 0.0040121 -0.51584844] [-0.00257827 0.99999454 -0.0020682 -0.62738727] [-0.00401743 0.00205783 0.99998981 0.00650305] [ 0. 0. 0. 1. ]] SLAMing on 5.041652532 meters 0.44647359934446335 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99998685 0.00256291 0.00444229 -0.51687264] [-0.00255307 0.99999428 -0.0022203 -0.62693698] [-0.00444795 0.00220893 0.99998767 0.00641902] [ 0. 0. 0. 1. ]] SLAMing on 5.071652531999999 meters 0.450203642368344 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99998561 0.00269138 0.00464173 -0.51728886] [-0.00268179 0.99999426 -0.00207194 -0.62750007] [-0.00464728 0.00205947 0.99998708 0.00624729] [ 0. 0. 0. 1. ]] SLAMing on 5.101652531999999 meters 0.49007315586050443 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99998601 0.00282174 0.00447305 -0.51691886] [-0.00281367 0.9999944 -0.00181048 -0.62836111] [-0.00447813 0.00179787 0.99998836 0.00628806] [ 0. 0. 0. 1. ]] SLAMing on 5.1316525319999995 meters 0.3665726776418917 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.9999916 0.0019175 0.00362201 -0.51486749] [-0.00190822 0.99999489 -0.00256407 -0.62645361] [-0.00362691 0.00255714 0.99999015 0.00656539] [ 0. 0. 0. 1. ]] SLAMing on 5.161652532 meters 0.3597558509518239 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99999399 0.00172225 0.00300816 -0.51370471] [-0.00171432 0.99999505 -0.00263944 -0.62606735] [-0.00301269 0.00263427 0.99999199 0.00713666] [ 0. 0. 0. 1. ]] SLAMing on 5.191652531999999 meters 0.35782300336041845 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.9999956 0.00169167 0.0024373 -0.51243279] [-0.00168561 0.99999548 -0.00248794 -0.62645675] [-0.0024415 0.00248382 0.99999393 0.00735423] [ 0. 0. 0. 1. ]] SLAMing on 5.221652531999999 meters 0.35747318261200584 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99999715 0.00167171 0.00170187 -0.51099114] [-0.00166789 0.99999609 -0.00224255 -0.62705888] [-0.00170561 0.0022397 0.99999604 0.00793082] [ 0. 0. 0. 1. ]] SLAMing on 5.251652532 meters 0.35610953406382695 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99999828 0.00139844 0.00121688 -0.51035124] [-0.0013955 0.9999961 -0.00241766 -0.62639137] [-0.00122026 0.00241596 0.99999634 0.00881541] [ 0. 0. 0. 1. ]] SLAMing on 5.281652531999999 meters 0.35147232711831294 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99999750e-01 -6.95658838e-04 1.30180049e-04 -5.08344484e-01] [ 6.96188343e-04 9.99991301e-01 -4.11262839e-03 -6.23201354e-01] [-1.27317930e-04 4.11271799e-03 9.99991535e-01 9.92896211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311652531999999 meters 0.3509606535743196 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99999690e-01 -6.89832417e-04 -3.79131670e-04 -5.07679376e-01] [ 6.88351154e-04 9.99992184e-01 -3.89332763e-03 -6.23710936e-01] [ 3.81814450e-04 3.89306545e-03 9.99992349e-01 1.08311133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3416525319999995 meters 0.34736724219384585 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99999379e-01 -6.17682294e-04 -9.28130061e-04 -5.06683249e-01] [ 6.14342552e-04 9.99993352e-01 -3.59434295e-03 -6.24524621e-01] [ 9.30344052e-04 3.59377053e-03 9.99993110e-01 1.13597480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371652532 meters 0.3493535143431472 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99998812e-01 -6.59316394e-04 -1.39339546e-03 -5.05897323e-01] [ 6.54418537e-04 9.99993617e-01 -3.51258910e-03 -6.24619935e-01] [ 1.39570247e-03 3.51167306e-03 9.99992860e-01 1.19227263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401652531999999 meters 0.3500947659968873 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 9.99997572e-01 -8.52691740e-04 -2.03207227e-03 -5.04507393e-01] [ 8.45305604e-04 9.99993044e-01 -3.63287137e-03 -6.24080497e-01] [ 2.03515586e-03 3.63114482e-03 9.99991336e-01 1.22709894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431652531999999 meters 0.3498410348645468 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 9.99997126e-01 -8.14209944e-04 -2.25488425e-03 -5.04301748e-01] [ 8.06349658e-04 9.99993604e-01 -3.48461123e-03 -6.24450841e-01] [ 2.25770703e-03 3.48278299e-03 9.99991386e-01 1.27797204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461652532 meters 0.35081319957126655 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 9.99996796e-01 -7.41005430e-04 -2.42064834e-03 -5.04086793e-01] [ 7.33023349e-04 9.99994297e-01 -3.29672192e-03 -6.25015546e-01] [ 2.42307742e-03 3.29493696e-03 9.99991636e-01 1.30598990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491652532 meters 0.34706852780517417 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.9999964 -0.00144496 -0.00226036 -0.50417807] [ 0.00143487 0.99998903 -0.00445876 -0.62135981] [ 0.00226678 0.0044555 0.99998751 0.01270107] [ 0. 0. 0. 1. ]] SLAMing on 5.521652531999999 meters 0.3522039053965181 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99999637 -0.00137193 -0.00231948 -0.50399626] [ 0.00136191 0.99998976 -0.00431663 -0.62184899] [ 0.00232538 0.00431346 0.99998799 0.01262669] [ 0. 0. 0. 1. ]] SLAMing on 5.551652531999999 meters 0.3526324486471826 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99999701 -0.00130388 -0.00206673 -0.50457848] [ 0.00129506 0.99999007 -0.00426483 -0.62207763] [ 0.00207227 0.00426215 0.99998877 0.01252817] [ 0. 0. 0. 1. ]] SLAMing on 5.581652532 meters 0.3648919642437469 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 9.99992982e-01 2.85390388e-03 -2.42721296e-03 -5.03512115e-01] [-2.85419006e-03 9.99995920e-01 -1.14450131e-04 -6.21476352e-01] [ 2.42687643e-03 1.21377055e-04 9.99997048e-01 1.23423845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611652531999999 meters 0.3685263747512033 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 9.99993157e-01 3.01920320e-03 -2.13769071e-03 -5.03975135e-01] [-3.01904651e-03 9.99995440e-01 7.65202845e-05 -6.22211662e-01] [ 2.13791199e-03 -7.00659732e-05 9.99997712e-01 1.19060726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641652531999999 meters 0.37488080438007504 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99994495e-01 2.89080217e-03 -1.62894986e-03 -5.05077297e-01] [-2.89131741e-03 9.99995771e-01 -3.14039922e-04 -6.20996756e-01] [ 1.62803515e-03 3.18748005e-04 9.99998624e-01 1.16932163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6716525319999995 meters 0.3766050121049705 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.62, Z:0.01 [[ 9.99994370e-01 3.08330347e-03 -1.32397156e-03 -5.05905985e-01] [-3.08339725e-03 9.99995244e-01 -6.87937483e-05 -6.21835206e-01] [ 1.32375316e-03 7.28756913e-05 9.99999121e-01 1.17724968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701652532 meters 0.35158130695340994 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99997264 0.00711183 -0.00203614 -0.5040339 ] [-0.00710362 0.99996671 0.00401535 -0.62100299] [ 0.00206463 -0.00400078 0.99998987 0.01182998] [ 0. 0. 0. 1. ]] SLAMing on 5.731652531999999 meters 0.3482395598760887 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 0.99996573 0.00791324 -0.00243147 -0.50363608] [-0.00790006 0.99995429 0.0053853 -0.62533211] [ 0.00247398 -0.0053659 0.99998254 0.01262514] [ 0. 0. 0. 1. ]] SLAMing on 5.761652531999999 meters 0.34057396053184874 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 0.99999007 0.00377193 -0.002372 -0.5041502 ] [-0.00376869 0.99999197 0.0013656 -0.62632377] [ 0.00237713 -0.00135665 0.99999625 0.0130461 ] [ 0. 0. 0. 1. ]] SLAMing on 5.791652532 meters 0.3378280531349803 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 9.99995870e-01 -7.57583018e-04 -2.77227897e-03 -5.03314935e-01] [ 7.48879240e-04 9.99994792e-01 -3.13926757e-03 -6.25708230e-01] [ 2.77464278e-03 3.13717850e-03 9.99991230e-01 1.33203126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821652531999999 meters 0.3376368407702893 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99999179 -0.00136025 -0.00381728 -0.50042065] [ 0.00134634 0.99999246 -0.00364304 -0.62458723] [ 0.0038222 0.00363787 0.99998608 0.0129032 ] [ 0. 0. 0. 1. ]] SLAMing on 5.851652531999999 meters 0.3794526805048809 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99998948 -0.00185441 -0.00419446 -0.49900704] [ 0.00183628 0.99998897 -0.00432273 -0.62247096] [ 0.00420243 0.00431498 0.99998186 0.01230374] [ 0. 0. 0. 1. ]] SLAMing on 5.8816525319999995 meters 0.3381075057106861 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 0.99999229 -0.00136138 -0.00368451 -0.50046751] [ 0.0013476 0.9999921 -0.00374068 -0.62428271] [ 0.00368957 0.00373569 0.99998622 0.01236739] [ 0. 0. 0. 1. ]] SLAMing on 5.911652532 meters 0.34602875110744574 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.62, Z:0.01 [[ 9.99988417e-01 2.97571941e-03 -3.78304455e-03 -5.00001568e-01] [-2.97341983e-03 9.99995391e-01 6.13343989e-04 -6.24379489e-01] [ 3.78485225e-03 -6.02088305e-04 9.99992656e-01 1.20679394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941652531999999 meters 0.34564912273459103 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 0.99999009 0.00357866 -0.0026466 -0.50287961] [-0.00357572 0.99999299 0.00111306 -0.62580668] [ 0.00265056 -0.00110358 0.99999588 0.01207575] [ 0. 0. 0. 1. ]] SLAMing on 5.971652531999999 meters 0.3443891823323844 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.63, Z:0.01 [[ 0.99996625 0.00799024 -0.00191189 -0.50472802] [-0.00797987 0.99995372 0.00537316 -0.62562617] [ 0.00195473 -0.00535772 0.99998374 0.01213503] [ 0. 0. 0. 1. ]] SLAMing on 6.001652532 meters 0.3446245234587212 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99991232e-01 4.08798805e-03 -9.07904178e-04 -5.07107753e-01] [-4.08671493e-03 9.99990670e-01 1.39971417e-03 -6.26875677e-01] [ 9.13617722e-04 -1.39599156e-03 9.99998608e-01 1.18339161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031652531999999 meters 0.35369940815841466 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99991976e-01 3.89560744e-03 -9.33437757e-04 -5.06553297e-01] [-3.89459594e-03 9.99991830e-01 1.08300450e-03 -6.25957077e-01] [ 9.37649090e-04 -1.07936045e-03 9.99998978e-01 1.11871947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061652531999999 meters 0.36157009244283844 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99992339e-01 3.78925221e-03 -9.81800417e-04 -5.06126330e-01] [-3.78837684e-03 9.99992426e-01 8.91922980e-04 -6.25379463e-01] [ 9.85172702e-04 -8.88196717e-04 9.99999120e-01 1.07632317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0916525319999995 meters 0.3549122387918797 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99991137e-01 4.17497790e-03 -5.43096368e-04 -5.07092746e-01] [-4.17422625e-03 9.99990339e-01 1.37785857e-03 -6.27060777e-01] [ 5.48843650e-04 -1.37557935e-03 9.99998903e-01 1.04844617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121652532 meters 0.43277049608277574 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99988143e-01 4.86860325e-03 9.81094497e-05 -5.08691427e-01] [-4.86881303e-03 9.99985581e-01 2.26532436e-03 -6.29766369e-01] [-8.70790696e-05 -2.26577518e-03 9.99997429e-01 1.03513062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151652531999999 meters 0.36736204985875537 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99998558 0.00527058 0.00102585 -0.51077557] [-0.00527324 0.99998271 0.00260228 -0.63099171] [-0.00101211 -0.00260765 0.99999609 0.00993829] [ 0. 0. 0. 1. ]] SLAMing on 6.181652531999999 meters 0.35700215617566877 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99995209 0.00968296 0.00143792 -0.51147553] [-0.00969272 0.99992891 0.00694388 -0.63113759] [-0.00137058 -0.00695748 0.99997486 0.00956935] [ 0. 0. 0. 1. ]] SLAMing on 6.211652532 meters 0.36256826573070794 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99994816 0.0100311 0.00174496 -0.51247728] [-0.01004382 0.99992188 0.00743989 -0.63279298] [-0.00167019 -0.00745703 0.9999708 0.00984694] [ 0. 0. 0. 1. ]] SLAMing on 6.241652532 meters 0.3619728742155891 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99994466 0.01034924 0.00189166 -0.5128355 ] [-0.01036392 0.99991491 0.00792216 -0.63446917] [-0.00180951 -0.00794133 0.99996683 0.00978013] [ 0. 0. 0. 1. ]] SLAMing on 6.271652531999999 meters 0.37587357255847187 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.64, Z:0.01 [[ 0.99994281 0.01050848 0.00198692 -0.51293189] [-0.01052433 0.99991146 0.00814255 -0.63527287] [-0.00190118 -0.008163 0.99996487 0.00953944] [ 0. 0. 0. 1. ]] SLAMing on 6.301652531999999 meters 0.36497621659287716 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99995896 0.00853103 0.00305037 -0.51564926] [-0.00854863 0.99994663 0.00580193 -0.6389088 ] [-0.00300071 -0.00582777 0.99997852 0.00941421] [ 0. 0. 0. 1. ]] SLAMing on 6.331652532 meters 0.37034763868396836 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99995708 0.00859464 0.00346109 -0.51612825] [-0.00861446 0.99994634 0.0057547 -0.63896489] [-0.00341145 -0.00578427 0.99997745 0.0085664 ] [ 0. 0. 0. 1. ]] SLAMing on 6.361652531999999 meters 0.37042285286351184 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99995434 0.00865981 0.00404081 -0.51718999] [-0.00868259 0.99994632 0.00565431 -0.63885121] [-0.00399163 -0.00568913 0.99997585 0.00797744] [ 0. 0. 0. 1. ]] SLAMing on 6.391652531999999 meters 0.3689334589840387 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99995329 0.00870352 0.00420434 -0.51735131] [-0.00872728 0.99994586 0.00566617 -0.6389938 ] [-0.0041548 -0.0057026 0.99997511 0.00761189] [ 0. 0. 0. 1. ]] SLAMing on 6.4216525319999995 meters 0.36955396282563036 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99996076 0.00785935 0.0040887 -0.51674181] [-0.00787765 0.99995894 0.00447889 -0.63569461] [-0.00405334 -0.00451092 0.99998161 0.00741981] [ 0. 0. 0. 1. ]] SLAMing on 6.451652532 meters 0.37455929407814964 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 9.99984877e-01 3.60313078e-03 4.15484180e-03 -5.17217537e-01] [-3.60417255e-03 9.99993475e-01 2.43276996e-04 -6.36014479e-01] [-4.15393813e-03 -2.58248084e-04 9.99991339e-01 7.79048606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481652531999999 meters 0.3488674762915248 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99999145 -0.00105821 0.00399822 -0.51680486] [ 0.00107629 0.9999892 -0.00452198 -0.63468386] [-0.00399339 0.00452625 0.99998178 0.00791452] [ 0. 0. 0. 1. ]] SLAMing on 6.511652531999999 meters 0.339597756799115 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99997701 -0.00580505 0.00350301 -0.5163483 ] [ 0.00583671 0.9999416 -0.00909536 -0.63423089] [-0.00345 0.0091156 0.9999525 0.00911375] [ 0. 0. 0. 1. ]] SLAMing on 6.541652532 meters 0.3412945083140388 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99999448 -0.00183425 0.00277208 -0.51453919] [ 0.00184841 0.9999852 -0.00511692 -0.6331048 ] [-0.00276266 0.00512202 0.99998307 0.00911523] [ 0. 0. 0. 1. ]] SLAMing on 6.571652531999999 meters 0.34509697505013004 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 9.99993634e-01 2.56449011e-03 2.48093541e-03 -5.14017015e-01] [-2.56308962e-03 9.99996554e-01 -5.67517653e-04 -6.33736591e-01] [-2.48238226e-03 5.61155181e-04 9.99996761e-01 9.41246863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601652531999999 meters 0.34936771945914 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.63, Z:0.01 [[ 0.99997484 0.00660715 0.00258302 -0.51459916] [-0.00661572 0.99997259 0.00332382 -0.6321991 ] [-0.00256099 -0.00334082 0.99999114 0.01007552] [ 0. 0. 0. 1. ]] SLAMing on 6.6316525319999995 meters 0.35780823498645525 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.63, Z:0.01 [[ 0.99993398 0.01114828 0.00278569 -0.5152097 ] [-0.01117022 0.9999057 0.007988 -0.6333004 ] [-0.00269637 -0.00801859 0.99996422 0.01031469] [ 0. 0. 0. 1. ]] SLAMing on 6.661652532 meters 0.3717986611962619 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99992733 0.01163968 0.00313828 -0.51566321] [-0.01166633 0.99989487 0.00861072 -0.63542735] [-0.00303772 -0.0086467 0.999958 0.00958214] [ 0. 0. 0. 1. ]] SLAMing on 6.691652531999999 meters 0.36495758226505726 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99992126 0.01207553 0.00341298 -0.51562488] [-0.01210622 0.99988515 0.00911756 -0.6371355 ] [-0.00330249 -0.00915816 0.99995261 0.00841473] [ 0. 0. 0. 1. ]] SLAMing on 6.721652531999999 meters 0.36495758226505726 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99992126 0.01207553 0.00341298 -0.51562488] [-0.01210622 0.99988515 0.00911756 -0.6371355 ] [-0.00330249 -0.00915816 0.99995261 0.00841473] [ 0. 0. 0. 1. ]] SLAMing on 6.751652532 meters 0.37478521811077337 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99992245 0.01185758 0.00380557 -0.51608508] [-0.01188999 0.99989225 0.00860914 -0.63558067] [-0.00370308 -0.00865372 0.9999557 0.00770313] [ 0. 0. 0. 1. ]] SLAMing on 6.781652531999999 meters 0.36497214828625113 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99992201 0.01184932 0.00394523 -0.51637989] [-0.01188273 0.99989278 0.00855684 -0.6354547 ] [-0.00384342 -0.00860305 0.99995561 0.00763986] [ 0. 0. 0. 1. ]] SLAMing on 6.811652531999999 meters 0.37144317882175865 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99991686 0.01227254 0.00395816 -0.5164721 ] [-0.01230876 0.99988137 0.00926004 -0.63785967] [-0.00384405 -0.00930799 0.99994929 0.00767274] [ 0. 0. 0. 1. ]] SLAMing on 6.8416525319999995 meters 0.3649857552979829 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99991379 0.01250607 0.00400207 -0.51665687] [-0.01254419 0.9998748 0.00964538 -0.63920719] [-0.00388094 -0.00969476 0.99994547 0.00772677] [ 0. 0. 0. 1. ]] SLAMing on 6.871652532 meters 0.37384631307166427 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99990893 0.01291955 0.0038999 -0.51646089] [-0.01295929 0.99986255 0.01034155 -0.6415176 ] [-0.00376575 -0.01039115 0.99993892 0.00767149] [ 0. 0. 0. 1. ]] SLAMing on 6.901652531999999 meters 0.376294305817993 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99991037 0.01281257 0.00388512 -0.51619612] [-0.01285147 0.99986583 0.01015732 -0.64093866] [-0.00375446 -0.01020634 0.99994087 0.00737746] [ 0. 0. 0. 1. ]] SLAMing on 6.931652531999999 meters 0.38247011410626447 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99990815 0.0129149 0.00411031 -0.51660833] [-0.01295652 0.99986335 0.01026729 -0.64141711] [-0.00397715 -0.0103196 0.99993884 0.00712503] [ 0. 0. 0. 1. ]] SLAMing on 6.961652532 meters 0.37667913599937686 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99990333 0.01322529 0.00429111 -0.51723709] [-0.01327079 0.99985409 0.01075592 -0.64309996] [-0.00414823 -0.01081183 0.99993295 0.00730461] [ 0. 0. 0. 1. ]] SLAMing on 6.991652531999999 meters 0.3701985324781416 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99990263 0.01333462 0.00411267 -0.51725635] [-0.01337937 0.9998494 0.01105341 -0.64397758] [-0.00396466 -0.01110736 0.99993045 0.0079843 ] [ 0. 0. 0. 1. ]] SLAMing on 7.021652531999999 meters 0.38158012380888934 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.64, Z:0.01 [[ 0.99990166 0.01337957 0.0042024 -0.51759276] [-0.01342557 0.99984809 0.01111522 -0.64418406] [-0.00405304 -0.01117055 0.99992939 0.00814908] [ 0. 0. 0. 1. ]] SLAMing on 7.051652531999999 meters 0.36936087184625727 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.9999367 0.01003011 0.00509821 -0.51981347] [-0.01007073 0.99991724 0.00800624 -0.6477755 ] [-0.00501749 -0.00805707 0.99995495 0.00801273] [ 0. 0. 0. 1. ]] SLAMing on 7.081652532 meters 0.36881798404008903 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99996477 0.00618805 0.00567111 -0.52116924] [-0.00621219 0.99997168 0.00424894 -0.64974429] [-0.00564465 -0.00428403 0.99997489 0.00769983] [ 0. 0. 0. 1. ]] SLAMing on 7.111652531999999 meters 0.36747347892368415 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99979162e-01 2.38802069e-03 5.99777082e-03 -5.22156058e-01] [-2.39197473e-03 9.99996927e-01 6.52164773e-04 -6.52153859e-01] [-5.99619501e-03 -6.66497699e-04 9.99981801e-01 7.81214938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141652531999999 meters 0.36201258777358514 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99977952e-01 2.48527621e-03 6.15778878e-03 -5.22670106e-01] [-2.49019645e-03 9.99996586e-01 7.91488689e-04 -6.52633961e-01] [-6.15580069e-03 -8.06805342e-04 9.99980727e-01 7.95566019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1716525319999995 meters 0.3602115275970776 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99997799 0.00261538 0.0060971 -0.52286432] [-0.00262176 0.99999602 0.00103914 -0.65335631] [-0.00609436 -0.0010551 0.99998087 0.00843435] [ 0. 0. 0. 1. ]] SLAMing on 7.201652531999999 meters 0.3595116643343922 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99997908 0.00274243 0.00585845 -0.52252743] [-0.00275028 0.99999533 0.00133208 -0.65426018] [-0.00585477 -0.00134817 0.99998195 0.00879188] [ 0. 0. 0. 1. ]] SLAMing on 7.231652531999999 meters 0.3516806217394915 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99998543 -0.00260658 0.00472649 -0.51999871] [ 0.0026233 0.99999031 -0.00353552 -0.65323808] [-0.00471723 0.00354786 0.99998258 0.00945577] [ 0. 0. 0. 1. ]] SLAMing on 7.261652531999999 meters 0.3494803200497679 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99998891 -0.00278632 0.00379619 -0.51782956] [ 0.00279965 0.99998992 -0.00350938 -0.65324733] [-0.00378637 0.00351997 0.99998664 0.00973254] [ 0. 0. 0. 1. ]] SLAMing on 7.291652532 meters 0.34970982041772014 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99999092 -0.00268152 0.0033126 -0.51663647] [ 0.00269222 0.99999116 -0.00322834 -0.65412927] [-0.00330392 0.00323723 0.9999893 0.00972739] [ 0. 0. 0. 1. ]] SLAMing on 7.321652531999999 meters 0.34944793716799816 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99999111 -0.00266057 0.003272 -0.51691872] [ 0.00267084 0.99999151 -0.00313831 -0.6543305 ] [-0.00326362 0.00314702 0.99998972 0.01028421] [ 0. 0. 0. 1. ]] SLAMing on 7.351652531999999 meters 0.35005637374753823 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 9.99997272e-01 9.40797464e-04 2.13813447e-03 -5.14579026e-01] [-9.42319803e-04 9.99999303e-01 7.11098186e-04 -6.53091215e-01] [-2.13746398e-03 -7.13111052e-04 9.99997461e-01 1.10650372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3816525319999995 meters 0.35199617504210556 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 9.99997188e-01 9.75521532e-04 2.16138458e-03 -5.14643269e-01] [-9.77161290e-04 9.99999235e-01 7.57734399e-04 -6.53254564e-01] [-2.16064374e-03 -7.59844290e-04 9.99997377e-01 1.10736332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411652532 meters 0.3517197391910911 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 9.99996714e-01 1.04552491e-03 2.34089962e-03 -5.14768338e-01] [-1.04743053e-03 9.99999121e-01 8.12973510e-04 -6.53571173e-01] [-2.34004758e-03 -8.15422768e-04 9.99996930e-01 1.05658541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441652531999999 meters 0.35333890773566456 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99993729e-01 1.35110414e-03 3.27352919e-03 -5.16414785e-01] [-1.35382506e-03 9.99998740e-01 8.29116951e-04 -6.53692355e-01] [-3.27240484e-03 -8.33543538e-04 9.99994298e-01 9.45803193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471652531999999 meters 0.35555965627716085 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99992615e-01 1.09139453e-03 3.68505562e-03 -5.17554918e-01] [-1.09266757e-03 9.99999344e-01 3.43464701e-04 -6.52075798e-01] [-3.68467835e-03 -3.47488705e-04 9.99993151e-01 9.65685904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501652532 meters 0.35411642637376317 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99993004e-01 1.05480290e-03 3.58873128e-03 -5.17406264e-01] [-1.05593254e-03 9.99999394e-01 3.12893279e-04 -6.51923336e-01] [-3.58839907e-03 -3.16680549e-04 9.99993512e-01 9.81716067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531652531999999 meters 0.35520039778884144 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99993710e-01 1.25031528e-03 3.31907088e-03 -5.16985638e-01] [-1.25266693e-03 9.99998966e-01 7.06543033e-04 -6.53173377e-01] [-3.31818405e-03 -7.10696280e-04 9.99994242e-01 1.01335606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561652531999999 meters 0.34898331293024343 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999322 0.00165843 0.00328628 -0.51756353] [-0.00166303 0.99999764 0.00139614 -0.65528895] [-0.00328395 -0.0014016 0.99999363 0.01100988] [ 0. 0. 0. 1. ]] SLAMing on 7.5916525319999995 meters 0.34898331293024343 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999322 0.00165843 0.00328628 -0.51756353] [-0.00166303 0.99999764 0.00139614 -0.65528895] [-0.00328395 -0.0014016 0.99999363 0.01100988] [ 0. 0. 0. 1. ]] SLAMing on 7.621652532 meters 0.34942691534815234 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999328 0.0018177 0.0031826 -0.51756848] [-0.0018231 0.9999969 0.00169383 -0.65624125] [-0.00317951 -0.00169962 0.9999935 0.01137517] [ 0. 0. 0. 1. ]] SLAMing on 7.651652531999999 meters 0.34900643758013455 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999548 0.00162049 0.00253119 -0.51626066] [-0.00162444 0.99999747 0.00155874 -0.65559481] [-0.00252866 -0.00156285 0.99999558 0.01193321] [ 0. 0. 0. 1. ]] SLAMing on 7.681652531999999 meters 0.354692068497191 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999647 0.00156974 0.0021454 -0.51514058] [-0.00157309 0.99999755 0.00155993 -0.65558425] [-0.00214294 -0.0015633 0.99999648 0.0117386 ] [ 0. 0. 0. 1. ]] SLAMing on 7.711652532 meters 0.34858466214866635 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 0.99999729 0.00148185 0.00179798 -0.51414061] [-0.00148456 0.99999776 0.00150729 -0.65539977] [-0.00179575 -0.00150996 0.99999725 0.01158109] [ 0. 0. 0. 1. ]] SLAMing on 7.741652531999999 meters 0.352351454454068 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999735 0.00132419 0.00188422 -0.51427778] [-0.00132649 0.99999838 0.00121963 -0.65443178] [-0.0018826 -0.00122213 0.99999748 0.01149052] [ 0. 0. 0. 1. ]] SLAMing on 7.771652531999999 meters 0.34804344349950767 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99996131e-01 1.25717348e-03 2.48149414e-03 -5.15264808e-01] [-1.25944685e-03 9.99998788e-01 9.14778129e-04 -6.53604821e-01] [-2.48034110e-03 -9.17899899e-04 9.99996503e-01 1.07483281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801652531999999 meters 0.352438177133731 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99999565 0.00137072 0.00261349 -0.51528878] [-0.00137348 0.9999985 0.00105666 -0.6541821 ] [-0.00261204 -0.00106024 0.99999603 0.01025852] [ 0. 0. 0. 1. ]] SLAMing on 7.831652532 meters 0.3507146892038409 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 9.99996028e-01 1.21876319e-03 2.54121824e-03 -5.15108868e-01] [-1.22088616e-03 9.99998907e-01 8.34031907e-04 -6.53386527e-01] [-2.54019897e-03 -8.37131132e-04 9.99996423e-01 1.02769103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861652531999999 meters 0.36266892936743417 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 9.99996037e-01 1.10170792e-03 2.59072986e-03 -5.14873062e-01] [-1.10324260e-03 9.99999217e-01 5.91019859e-04 -6.52625074e-01] [-2.59007670e-03 -5.93875721e-04 9.99996469e-01 9.78114538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891652531999999 meters 0.36522083357303026 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.65, Z:0.01 [[ 0.99999512 0.00144757 0.00276911 -0.51534595] [-0.00145064 0.99999834 0.00110583 -0.65437083] [-0.00276751 -0.00110984 0.99999555 0.00973354] [ 0. 0. 0. 1. ]] SLAMing on 7.9216525319999995 meters 0.3540604709470196 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999128 0.00207503 0.00362341 -0.51801024] [-0.00208155 0.99999622 0.0017974 -0.65615894] [-0.00361966 -0.00180492 0.99999182 0.01049157] [ 0. 0. 0. 1. ]] SLAMing on 7.951652531999999 meters 0.353577494186748 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999361 0.00196288 0.00298826 -0.5162326 ] [-0.00196832 0.99999641 0.00181959 -0.65618509] [-0.00298468 -0.00182546 0.99999388 0.01027012] [ 0. 0. 0. 1. ]] SLAMing on 7.981652531999999 meters 0.35395196479997704 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999612 0.00154387 0.00231923 -0.51439624] [-0.00154712 0.99999783 0.00139856 -0.65491489] [-0.00231707 -0.00140214 0.99999633 0.01012506] [ 0. 0. 0. 1. ]] SLAMing on 8.011652532 meters 0.35395196479997704 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999612 0.00154387 0.00231923 -0.51439624] [-0.00154712 0.99999783 0.00139856 -0.65491489] [-0.00231707 -0.00140214 0.99999633 0.01012506] [ 0. 0. 0. 1. ]] SLAMing on 8.041652531999999 meters 0.3501753631234439 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.9999976 0.00132966 0.00174282 -0.51310168] [-0.00133181 0.99999836 0.00123049 -0.65425884] [-0.00174118 -0.0012328 0.99999772 0.01040985] [ 0. 0. 0. 1. ]] SLAMing on 8.071652532 meters 0.34955462368015067 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999807 0.00129769 0.00147649 -0.51254977] [-0.00129957 0.99999835 0.00126983 -0.65432428] [-0.00147484 -0.00127174 0.9999981 0.01060421] [ 0. 0. 0. 1. ]] SLAMing on 8.101652532 meters 0.3445954046499402 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999837 0.00120865 0.00133855 -0.51222209] [-0.00121022 0.99999858 0.00117344 -0.65396622] [-0.00133713 -0.00117506 0.99999842 0.01067913] [ 0. 0. 0. 1. ]] SLAMing on 8.131652531999999 meters 0.34398889761160384 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999844 0.00111209 0.00136942 -0.51231592] [-0.00111346 0.99999887 0.00100517 -0.65338253] [-0.0013683 -0.00100669 0.99999856 0.01073238] [ 0. 0. 0. 1. ]] SLAMing on 8.161652532 meters 0.3430861819489212 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 9.99998601e-01 1.08871626e-03 1.26978551e-03 -5.12094583e-01] [-1.08997882e-03 9.99998912e-01 9.94035999e-04 -6.53312715e-01] [-1.26870190e-03 -9.95418648e-04 9.99998700e-01 1.07856756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191652531999999 meters 0.3430414302569729 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.65, Z:0.01 [[ 0.99999865 0.00121101 0.00111271 -0.51182007] [-0.0012124 0.99999849 0.00124246 -0.6541136 ] [-0.00111121 -0.00124381 0.99999861 0.01093965] [ 0. 0. 0. 1. ]] SLAMing on 8.221652531999998 meters 0.34256655681741305 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 0.99999801 0.00158858 0.0012071 -0.51234428] [-0.00159082 0.999997 0.00186069 -0.6561494 ] [-0.00120415 -0.00186261 0.99999754 0.01128877] [ 0. 0. 0. 1. ]] SLAMing on 8.251652532 meters 0.34798737215360337 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 0.99999733 0.00168916 0.0015773 -0.5131625 ] [-0.0016922 0.99999671 0.00192749 -0.65647124] [-0.00157403 -0.00193016 0.9999969 0.01109701] [ 0. 0. 0. 1. ]] SLAMing on 8.281652531999999 meters 0.3450639683146088 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 0.99999633 0.00188308 0.00194993 -0.51385547] [-0.00188723 0.99999595 0.00212831 -0.65727519] [-0.00194591 -0.00213198 0.99999583 0.01068411] [ 0. 0. 0. 1. ]] SLAMing on 8.311652532 meters 0.34893247452826937 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999251 0.00215278 0.00321798 -0.51637086] [-0.00215844 0.99999613 0.00175714 -0.6561288 ] [-0.00321418 -0.00176407 0.99999328 0.00967961] [ 0. 0. 0. 1. ]] SLAMing on 8.341652532 meters 0.35340199322288307 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99998982 0.00238717 0.00382796 -0.51742996] [-0.00239452 0.99999529 0.00191764 -0.65686978] [-0.00382337 -0.00192678 0.99999083 0.00891105] [ 0. 0. 0. 1. ]] SLAMing on 8.371652531999999 meters 0.3569560294449526 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99998648 0.00250019 0.00456025 -0.51893069] [-0.00250874 0.99999511 0.00186963 -0.6569173 ] [-0.00455555 -0.00188104 0.99998785 0.00838012] [ 0. 0. 0. 1. ]] SLAMing on 8.401652532 meters 0.3588294313662378 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.9999829 0.00279007 0.00513885 -0.52025163] [-0.00280125 0.99999372 0.00216933 -0.65802879] [-0.00513277 -0.00218369 0.99998444 0.00811868] [ 0. 0. 0. 1. ]] SLAMing on 8.431652532 meters 0.3659403381419121 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99997543 0.00340128 0.00613021 -0.52238822] [-0.00341767 0.99999061 0.00266545 -0.65950475] [-0.00612109 -0.00268633 0.99997766 0.00756432] [ 0. 0. 0. 1. ]] SLAMing on 8.461652531999999 meters 0.36725040612110527 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.9999734 0.00352621 0.00638554 -0.52272023] [-0.00354406 0.99998984 0.00278588 -0.66005869] [-0.00637565 -0.00280844 0.99997573 0.00707447] [ 0. 0. 0. 1. ]] SLAMing on 8.491652532 meters 0.3683452945960945 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99997017 0.0036006 0.00683367 -0.52356331] [-0.00361953 0.99998964 0.00275979 -0.66011677] [-0.00682367 -0.00278444 0.99997284 0.00663903] [ 0. 0. 0. 1. ]] SLAMing on 8.521652532 meters 0.3705956066575331 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99996583 0.00371257 0.00738608 -0.52466513] [-0.00373297 0.99998925 0.00274924 -0.6602342 ] [-0.0073758 -0.00277672 0.99996894 0.00618808] [ 0. 0. 0. 1. ]] SLAMing on 8.551652531999999 meters 0.3691830738318479 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.9999569 0.00407118 0.00834453 -0.52627056] [-0.00409448 0.99998776 0.00277722 -0.66034193] [-0.00833312 -0.00281127 0.99996133 0.00496144] [ 0. 0. 0. 1. ]] SLAMing on 8.581652532 meters 0.37026803740161024 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99995396 0.00410659 0.00867264 -0.5266961 ] [-0.00413033 0.99998777 0.00272024 -0.66032364] [-0.00866136 -0.00275593 0.99995869 0.00436255] [ 0. 0. 0. 1. ]] SLAMing on 8.611652531999999 meters 0.384335516613198 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99995348 0.00401839 0.00876825 -0.52658984] [-0.00404066 0.99998865 0.00252352 -0.65975565] [-0.00875801 -0.00255884 0.99995837 0.0038733 ] [ 0. 0. 0. 1. ]] SLAMing on 8.641652532 meters 0.384335516613198 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99995348 0.00401839 0.00876825 -0.52658984] [-0.00404066 0.99998865 0.00252352 -0.65975565] [-0.00875801 -0.00255884 0.99995837 0.0038733 ] [ 0. 0. 0. 1. ]] SLAMing on 8.671652532 meters 0.37971135171828374 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99995215 0.00386028 0.00898825 -0.52649511] [-0.00387994 0.99999012 0.00217053 -0.65869671] [-0.00897978 -0.0022053 0.99995725 0.00297179] [ 0. 0. 0. 1. ]] SLAMing on 8.701652531999999 meters 0.37461830394593487 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994978 0.00402523 0.00917843 -0.52691796] [-0.00404741 0.99998893 0.00239848 -0.6595519 ] [-0.00916867 -0.00243551 0.999955 0.00284487] [ 0. 0. 0. 1. ]] SLAMing on 8.731652532 meters 0.38112926730335817 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994716 0.00428832 0.00934286 -0.52750374] [-0.00431464 0.99998677 0.00279962 -0.66092524] [-0.00933073 -0.00283979 0.99995244 0.00305362] [ 0. 0. 0. 1. ]] SLAMing on 8.761652532 meters 0.37398449889401164 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994487 0.00434467 0.00955936 -0.52790439] [-0.00437204 0.9999864 0.00284337 -0.66114696] [-0.00954688 -0.00288501 0.99995027 0.00284348] [ 0. 0. 0. 1. ]] SLAMing on 8.791652531999999 meters 0.3782577150416172 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.9999441 0.00430639 0.00965707 -0.52785198] [-0.00433318 0.99998682 0.00275417 -0.660923 ] [-0.00964508 -0.00279586 0.99994958 0.00240712] [ 0. 0. 0. 1. ]] SLAMing on 8.821652532 meters 0.3770519327051508 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994219 0.00432737 0.00984358 -0.52835187] [-0.0043546 0.99998675 0.00274632 -0.66092472] [-0.00983157 -0.00278903 0.99994778 0.0024484 ] [ 0. 0. 0. 1. ]] SLAMing on 8.851652532 meters 0.3728379487023303 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99993993 0.00445692 0.0100141 -0.52893307] [-0.00448637 0.99998567 0.00292007 -0.6615265 ] [-0.01000094 -0.00296482 0.99994559 0.00264435] [ 0. 0. 0. 1. ]] SLAMing on 8.881652531999999 meters 0.36897229799049536 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994345 0.00412819 0.00980082 -0.52859454] [-0.00415311 0.99998819 0.00252411 -0.66027462] [-0.00979028 -0.00256468 0.99994879 0.0030611 ] [ 0. 0. 0. 1. ]] SLAMing on 8.911652532 meters 0.368913117172605 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994799 0.00400085 0.00938121 -0.52759368] [-0.00402386 0.99998894 0.00243526 -0.65989697] [-0.00937136 -0.00247288 0.99995303 0.00316992] [ 0. 0. 0. 1. ]] SLAMing on 8.941652531999999 meters 0.3729933397391332 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99994965 0.00391649 0.00923848 -0.5274427 ] [-0.00393819 0.99998953 0.00233193 -0.65947318] [-0.00922925 -0.00236819 0.99995461 0.00351395] [ 0. 0. 0. 1. ]] SLAMing on 8.971652531999998 meters 0.37221653963596174 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.66, Z:0.00 [[ 0.99995137 0.00403825 0.00899718 -0.52690211] [-0.00406177 0.99998838 0.00259787 -0.66035131] [-0.00898658 -0.00263429 0.99995615 0.0035954 ] [ 0. 0. 0. 1. ]] SLAMing on 9.001652532 meters 0.3662908939079452 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.00 [[ 0.999961 0.00381949 0.00796308 -0.52435614] [-0.00384068 0.99998912 0.00264742 -0.66053384] [-0.00795289 -0.0026779 0.99996479 0.00366912] [ 0. 0. 0. 1. ]] SLAMing on 9.031652531999999 meters 0.36345500636514855 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.00 [[ 0.99996489 0.00386642 0.00743487 -0.52320044] [-0.00388784 0.99998833 0.00286836 -0.66117442] [-0.00742369 -0.00289717 0.99996825 0.00392314] [ 0. 0. 0. 1. ]] SLAMing on 9.061652532 meters 0.36490886254524496 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.00 [[ 0.99996647 0.00398115 0.00715609 -0.52279128] [-0.00400365 0.99998708 0.00313287 -0.66196389] [-0.00714353 -0.00316142 0.99996949 0.00434388] [ 0. 0. 0. 1. ]] SLAMing on 9.091652532 meters 0.36212618713667016 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99996385 0.00438116 0.00728697 -0.52388579] [-0.00440886 0.9999831 0.00378948 -0.66392165] [-0.00727025 -0.00382147 0.99996627 0.00537807] [ 0. 0. 0. 1. ]] SLAMing on 9.121652531999999 meters 0.3625063083588086 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99996182 0.00439274 0.00755385 -0.52455831] [-0.00442114 0.99998321 0.00374739 -0.66382106] [-0.00753726 -0.00378065 0.99996445 0.00538009] [ 0. 0. 0. 1. ]] SLAMing on 9.151652532 meters 0.36311463445614234 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99996394 0.00418576 0.0073897 -0.52388262] [-0.00421131 0.9999852 0.00344462 -0.66284102] [-0.00737517 -0.00347562 0.99996676 0.00504562] [ 0. 0. 0. 1. ]] SLAMing on 9.181652532 meters 0.35885331417304317 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.00 [[ 9.99969691e-01 2.95367414e-05 7.78567641e-03 -5.24787294e-01] [-2.36974576e-05 9.99999718e-01 -7.50094582e-04 -6.63399255e-01] [-7.78569638e-03 7.49887346e-04 9.99969410e-01 4.82014690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211652531999999 meters 0.3547863948659368 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99997854 -0.00146899 0.00638442 -0.52175885] [ 0.00148224 0.99999676 -0.00207083 -0.66069558] [-0.00638136 0.00208025 0.99997748 0.00524651] [ 0. 0. 0. 1. ]] SLAMing on 9.241652532 meters 0.35856398561016095 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99998114 -0.00147941 0.00596036 -0.52131183] [ 0.00149064 0.99999712 -0.00188058 -0.66111154] [-0.00595756 0.00188943 0.99998047 0.00617528] [ 0. 0. 0. 1. ]] SLAMing on 9.271652532 meters 0.35226147802564084 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99998363 -0.00150282 0.00552088 -0.52073431] [ 0.00151239 0.99999736 -0.00172842 -0.66143519] [-0.00551826 0.00173675 0.99998327 0.00699005] [ 0. 0. 0. 1. ]] SLAMing on 9.301652531999999 meters 0.34935893967437026 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.9999878 -0.0014477 0.00472312 -0.51907439] [ 0.00145402 0.99999805 -0.00133582 -0.66258728] [-0.00472118 0.00134267 0.99998795 0.00745484] [ 0. 0. 0. 1. ]] SLAMing on 9.331652532 meters 0.3501543194227034 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99998997 -0.0018291 0.00408948 -0.5178035 ] [ 0.00183625 0.99999679 -0.00174463 -0.66118061] [-0.00408628 0.00175212 0.99999012 0.00798904] [ 0. 0. 0. 1. ]] SLAMing on 9.361652531999999 meters 0.3454434732001822 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 0.99999254 -0.00170307 0.0034678 -0.5169599 ] [ 0.0017076 0.99999769 -0.00130305 -0.66240599] [-0.00346557 0.00130896 0.99999314 0.00900536] [ 0. 0. 0. 1. ]] SLAMing on 9.391652531999998 meters 0.34243835102767844 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 9.99994399e-01 -1.43400143e-03 3.02430826e-03 -5.16687830e-01] [ 1.43599303e-03 9.99998753e-01 -6.56462309e-04 -6.64243818e-01] [-3.02336313e-03 6.60801518e-04 9.99995211e-01 1.01938882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421652532 meters 0.34129874001871785 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.66, Z:0.01 [[ 9.99995260e-01 -1.35366098e-03 2.76554354e-03 -5.16669162e-01] [ 1.35482305e-03 9.99998995e-01 -4.18367164e-04 -6.64837506e-01] [-2.76497443e-03 4.22112002e-04 9.99996088e-01 1.11450378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451652531999999 meters 0.34380294127910865 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.67, Z:0.01 [[ 9.99996256e-01 -1.30944943e-03 2.40275113e-03 -5.15835490e-01] [ 1.31005470e-03 9.99999111e-01 -2.50352052e-04 -6.65344421e-01] [-2.40242117e-03 2.53498850e-04 9.99997082e-01 1.12562690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481652532 meters 0.34215034732958177 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 0.99999617 -0.00223728 0.00162676 -0.51369006] [ 0.00223945 0.9999966 -0.00133579 -0.66257171] [-0.00162377 0.00133943 0.99999778 0.01083276] [ 0. 0. 0. 1. ]] SLAMing on 9.511652532 meters 0.3342403501044495 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99996789e-01 -2.38031880e-03 8.69549654e-04 -5.12275708e-01] [ 2.38145170e-03 9.99996314e-01 -1.30415362e-03 -6.62513700e-01] [-8.66442148e-04 1.30622022e-03 9.99998772e-01 1.15644291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541652531999999 meters 0.33253346403809403 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997135e-01 -2.38971692e-03 1.41930257e-04 -5.10910721e-01] [ 2.38986762e-03 9.99996570e-01 -1.07124629e-03 -6.63074228e-01] [-1.39369795e-04 1.07158242e-03 9.99999416e-01 1.22514810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571652532 meters 0.3374106217189474 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997253e-01 -2.34161587e-03 -1.04188137e-04 -5.10274821e-01] [ 2.34151867e-03 9.99996832e-01 -9.23478279e-04 -6.63532095e-01] [ 1.06350238e-04 9.23231784e-04 9.99999568e-01 1.22042623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601652532 meters 0.33409575367777533 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997195e-01 -2.33888505e-03 3.74855886e-04 -5.11228131e-01] [ 2.33928223e-03 9.99996699e-01 -1.06263510e-03 -6.63200558e-01] [-3.72369267e-04 1.06350901e-03 9.99999365e-01 1.18252715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631652531999999 meters 0.3417009424977677 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997037e-01 -2.33083208e-03 7.02563571e-04 -5.12270263e-01] [ 2.33160720e-03 9.99996672e-01 -1.10447665e-03 -6.63050121e-01] [-6.99986884e-04 1.10611148e-03 9.99999143e-01 1.21437524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661652532 meters 0.33836248907996797 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997242e-01 -2.19301342e-03 8.40165164e-04 -5.12896017e-01] [ 2.19377039e-03 9.99997188e-01 -9.01128853e-04 -6.63678713e-01] [-8.38186613e-04 9.02969498e-04 9.99999241e-01 1.25132162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691652531999999 meters 0.3325315537314569 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99998317e-01 -1.80973480e-03 3.00723600e-04 -5.11591977e-01] [ 1.80977580e-03 9.99998353e-01 -1.36114787e-04 -6.66129896e-01] [-3.00476774e-04 1.36658801e-04 9.99999946e-01 1.25150126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721652531999998 meters 0.3321704722068059 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.66, Z:0.01 [[ 9.99997718e-01 -2.13583115e-03 -3.78458804e-05 -5.10756328e-01] [ 2.13580906e-03 9.99997554e-01 -5.74520825e-04 -6.64662438e-01] [ 3.90728673e-05 5.74438683e-04 9.99999834e-01 1.26395092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751652532 meters 0.3400000267101062 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99997837e-01 -2.07231632e-03 -1.77320386e-04 -5.10536962e-01] [ 2.07224176e-03 9.99997765e-01 -4.19650441e-04 -6.65134366e-01] [ 1.78189638e-04 4.19282082e-04 9.99999896e-01 1.28157894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781652531999999 meters 0.3562358579721243 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99998519e-01 -1.71292094e-03 -1.69892978e-04 -5.10617416e-01] [ 1.71294821e-03 9.99998520e-01 1.60490223e-04 -6.67073455e-01] [ 1.69617819e-04 -1.60781003e-04 9.99999973e-01 1.28332956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811652532 meters 0.33743498406468786 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99998885e-01 -1.49254419e-03 -3.65354282e-05 -5.11176581e-01] [ 1.49256191e-03 9.99998766e-01 4.89956198e-04 -6.68152152e-01] [ 3.58041019e-05 -4.90010183e-04 9.99999879e-01 1.31009523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841652532 meters 0.3354756698855078 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99998353e-01 -1.79050677e-03 -2.95932714e-04 -5.10579593e-01] [ 1.79052585e-03 9.99998395e-01 6.42224848e-05 -6.66675892e-01] [ 2.95817248e-04 -6.47522542e-05 9.99999954e-01 1.32486841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871652531999999 meters 0.33224594263027674 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99998016e-01 -1.87633649e-03 -6.69388314e-04 -5.09819196e-01] [ 1.87636254e-03 9.99998239e-01 3.82951319e-05 -6.66506916e-01] [ 6.69315281e-04 -3.95510710e-05 9.99999775e-01 1.35324221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901652532 meters 0.3291526714301713 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99996695e-01 -2.16723985e-03 -1.38333473e-03 -5.08212142e-01] [ 2.16704875e-03 9.99997642e-01 -1.39626009e-04 -6.65879826e-01] [ 1.38363407e-03 1.36627794e-04 9.99999033e-01 1.38520209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931652532 meters 0.3276928582125029 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99996383e-01 -2.22330144e-03 -1.51330645e-03 -5.07838333e-01] [ 2.22299162e-03 9.99997508e-01 -2.06377830e-04 -6.65651476e-01] [ 1.51376152e-03 2.03013016e-04 9.99998834e-01 1.38118260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961652531999999 meters 0.3274676580638344 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99995946e-01 -2.17055782e-03 -1.84282355e-03 -5.07013698e-01] [ 2.17054251e-03 9.99997644e-01 -1.03111244e-05 -6.66276651e-01] [ 1.84284159e-03 6.31115574e-06 9.99998302e-01 1.38105082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991652532 meters 0.3282103603950168 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99993884e-01 -2.51543062e-03 -2.42980849e-03 -5.05622120e-01] [ 2.51464731e-03 9.99996785e-01 -3.25376338e-04 -6.65231420e-01] [ 2.43061914e-03 3.19264236e-04 9.99996995e-01 1.40212009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021652532 meters 0.31932552018090826 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.67, Z:0.02 [[ 9.99989548e-01 -2.89077141e-03 -3.54213999e-03 -5.03649027e-01] [ 2.89019943e-03 9.99995809e-01 -1.66587857e-04 -6.65778942e-01] [ 3.54260671e-03 1.56348625e-04 9.99993713e-01 1.53224746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051652531999999 meters 0.3162798464031681 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.67, Z:0.02 [[ 9.99987998e-01 -2.87914194e-03 -3.96415375e-03 -5.02851215e-01] [ 2.87925564e-03 9.99995855e-01 2.29752632e-05 -6.66247535e-01] [ 3.96407117e-03 -3.43887995e-05 9.99992142e-01 1.57387645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081652532 meters 0.31503526441036606 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.66, Z:0.02 [[ 9.99983941e-01 -3.50309592e-03 -4.45490331e-03 -5.02168484e-01] [ 3.50042144e-03 9.99993689e-01 -6.08000181e-04 -6.64522726e-01] [ 4.45700508e-03 5.92396378e-04 9.99989892e-01 1.66111119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111652531999999 meters 0.3138987559018071 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.66, Z:0.02 [[ 9.99985123e-01 -3.50590891e-03 -4.17869339e-03 -5.02419332e-01] [ 3.50297372e-03 9.99993613e-01 -7.09530268e-04 -6.64355589e-01] [ 4.18115424e-03 6.94881859e-04 9.99991018e-01 1.59438739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141652531999998 meters 0.31871806178178025 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.67, Z:0.02 [[ 9.99989124e-01 -3.03704181e-03 -3.53949096e-03 -5.03876094e-01] [ 3.03653112e-03 9.99995379e-01 -1.49648349e-04 -6.66162649e-01] [ 3.53992909e-03 1.38898947e-04 9.99993725e-01 1.56040415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171652532 meters 0.3185773285101961 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.02 [[ 9.99991982e-01 -2.88857645e-03 -2.77357834e-03 -5.05861112e-01] [ 2.88811368e-03 9.99995815e-01 -1.70839086e-04 -6.66106255e-01] [ 2.77406021e-03 1.62827306e-04 9.99996139e-01 1.56870731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201652531999999 meters 0.32559865447331987 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.02 [[ 9.99995704e-01 -2.22826150e-03 -1.90448686e-03 -5.08195215e-01] [ 2.22926115e-03 9.99997378e-01 5.22930098e-04 -6.68179341e-01] [ 1.90331664e-03 -5.27173450e-04 9.99998050e-01 1.58286541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231652532 meters 0.3266217843395754 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.02 [[ 0.99999469 0.00308927 -0.0010415 -0.50999131] [-0.00308318 0.99997844 0.00579842 -0.67070488] [ 0.00105939 -0.00579518 0.99998265 0.01521806] [ 0. 0. 0. 1. ]] SLAMing on 10.261652532 meters 0.32943292056463425 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99995684e-01 2.90863012e-03 -4.15371590e-04 -5.11234121e-01] [-2.90638347e-03 9.99981675e-01 5.31065822e-03 -6.69237468e-01] [ 4.30810719e-04 -5.30942806e-03 9.99985812e-01 1.47617594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291652531999999 meters 0.33393376360435373 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.67, Z:0.01 [[ 9.99995730e-01 2.90943368e-03 2.75459037e-04 -5.12397972e-01] [-2.91078162e-03 9.99983131e-01 5.02648627e-03 -6.68585908e-01] [-2.60830161e-04 -5.02726660e-03 9.99987329e-01 1.39016936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321652532 meters 0.3400278033209359 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.67, Z:0.01 [[ 0.99997805 0.00632281 0.00198232 -0.51542091] [-0.00633797 0.99995001 0.00773404 -0.67328952] [-0.00193332 -0.00774644 0.99996813 0.01211037] [ 0. 0. 0. 1. ]] SLAMing on 10.351652532 meters 0.340402663624355 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.67, Z:0.01 [[ 0.99997446 0.00658764 0.00277009 -0.51714819] [-0.00660932 0.99994704 0.00788896 -0.67393409] [-0.00271798 -0.00790707 0.99996504 0.0116852 ] [ 0. 0. 0. 1. ]] SLAMing on 10.381652531999999 meters 0.3463819496092089 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99996896 0.00715438 0.00330086 -0.5185747 ] [-0.00718272 0.99993674 0.00865554 -0.67640246] [-0.00323872 -0.00867898 0.99995709 0.01174915] [ 0. 0. 0. 1. ]] SLAMing on 10.411652532 meters 0.3482828809811521 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99996373 0.00765533 0.00373368 -0.51967857] [-0.00769 0.99992663 0.00935942 -0.67873403] [-0.00366176 -0.00938779 0.99994923 0.01170518] [ 0. 0. 0. 1. ]] SLAMing on 10.441652531999999 meters 0.3571127348194814 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99991684 0.0122204 0.00411907 -0.52049936] [-0.01227707 0.99982626 0.01402548 -0.67990053] [-0.00394696 -0.01407489 0.99989315 0.01154514] [ 0. 0. 0. 1. ]] SLAMing on 10.471652531999998 meters 0.34146696406697374 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.9999687 0.00713339 0.00342188 -0.51926099] [-0.0071649 0.99993122 0.00928508 -0.67886562] [-0.00335541 -0.00930931 0.99995104 0.01236758] [ 0. 0. 0. 1. ]] SLAMing on 10.501652532 meters 0.3348027620115378 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99994447e-01 -2.15938311e-03 2.53824048e-03 -5.17463152e-01] [ 2.15872316e-03 9.99997635e-01 2.62710667e-04 -6.78174962e-01] [-2.53880177e-03 -2.57229850e-04 9.99996744e-01 1.31144248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531652531999999 meters 0.3348027620115378 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99994447e-01 -2.15938311e-03 2.53824048e-03 -5.17463152e-01] [ 2.15872316e-03 9.99997635e-01 2.62710667e-04 -6.78174962e-01] [-2.53880177e-03 -2.57229850e-04 9.99996744e-01 1.31144248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561652531999998 meters 0.32576409071275947 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99997641 -0.00652405 0.00214786 -0.51663528] [ 0.00653268 0.99997052 -0.00403608 -0.67824187] [-0.00212147 0.00405002 0.99998955 0.01348273] [ 0. 0. 0. 1. ]] SLAMing on 10.591652532 meters 0.32638248703425427 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99994519e-01 -2.70041398e-03 1.91569563e-03 -5.15627142e-01] [ 2.70132309e-03 9.99996240e-01 -4.72131085e-04 -6.75799706e-01] [-1.91441348e-03 4.77303410e-04 9.99998054e-01 1.28436140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621652531999999 meters 0.33127835453507065 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99994221e-01 -1.75133314e-03 2.91400335e-03 -5.18158022e-01] [ 1.75014360e-03 9.99998384e-01 4.10716070e-04 -6.78089489e-01] [-2.91471795e-03 -4.05613772e-04 9.99995670e-01 1.26872475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651652532 meters 0.3343660152792442 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999274 0.00251481 0.00286403 -0.51776003] [-0.00252814 0.99998596 0.0046575 -0.67785084] [-0.00285228 -0.00466471 0.99998505 0.01231649] [ 0. 0. 0. 1. ]] SLAMing on 10.681652532 meters 0.3395114242330219 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999077 0.00276374 0.00328855 -0.51943508] [-0.00278017 0.99998363 0.00500114 -0.67884109] [-0.00327467 -0.00501024 0.99998209 0.01312816] [ 0. 0. 0. 1. ]] SLAMing on 10.711652531999999 meters 0.33640942562970877 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.9999915 0.00285832 0.00297128 -0.518894 ] [-0.00287393 0.99998203 0.00526175 -0.67961227] [-0.00295618 -0.00527024 0.99998174 0.01351431] [ 0. 0. 0. 1. ]] SLAMing on 10.741652532 meters 0.33454924998098495 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999348 0.00268808 0.00241013 -0.5176153 ] [-0.0027005 0.99998301 0.00516558 -0.67921619] [-0.00239621 -0.00517206 0.99998375 0.01379529] [ 0. 0. 0. 1. ]] SLAMing on 10.771652532 meters 0.3275844521427755 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999712 -0.00151534 0.00185917 -0.51657119] [ 0.00151316 0.99999816 0.00117717 -0.68026282] [-0.00186095 -0.00117435 0.99999758 0.01428483] [ 0. 0. 0. 1. ]] SLAMing on 10.801652531999999 meters 0.33123170548934505 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999804 -0.00139296 0.00140402 -0.51558156] [ 0.00139085 0.9999979 0.00150341 -0.68126605] [-0.00140611 -0.00150145 0.99999788 0.01450304] [ 0. 0. 0. 1. ]] SLAMing on 10.831652532 meters 0.327635038389163 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.02 [[ 0.99999799 -0.00141584 0.00141946 -0.51596069] [ 0.00141377 0.99999794 0.00145748 -0.68100859] [-0.00142152 -0.00145547 0.99999793 0.01501613] [ 0. 0. 0. 1. ]] SLAMing on 10.861652531999999 meters 0.3359485342677786 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 0.99999737 -0.00112827 0.0019955 -0.51726031] [ 0.00112473 0.9999978 0.00177173 -0.6821551 ] [-0.00199749 -0.00176948 0.99999644 0.01475752] [ 0. 0. 0. 1. ]] SLAMing on 10.891652531999998 meters 0.3327895436970508 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99995672e-01 -8.96806193e-04 2.80219808e-03 -5.18951122e-01] [ 8.91570531e-04 9.99997856e-01 1.86910364e-03 -6.82646566e-01] [-2.80386830e-03 -1.86659719e-03 9.99994327e-01 1.41871861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921652532 meters 0.33747749478969413 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99989805e-01 -7.63328128e-05 4.51488529e-03 -5.22181247e-01] [ 6.83609844e-05 9.99998439e-01 1.76580480e-03 -6.82143139e-01] [-4.51501303e-03 -1.76547816e-03 9.99988249e-01 1.24115955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951652531999999 meters 0.34956856733361175 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.68, Z:0.01 [[ 9.99984946e-01 1.95216501e-04 5.48363967e-03 -5.24244111e-01] [-2.04987155e-04 9.99998393e-01 1.78127711e-03 -6.82366763e-01] [-5.48328312e-03 -1.78237437e-03 9.99983378e-01 1.17897374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981652532 meters 0.3569731632297413 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.68, Z:0.01 [[ 9.99979449e-01 7.64049388e-04 6.36528594e-03 -5.26301038e-01] [-7.79145279e-04 9.99996889e-01 2.36945459e-03 -6.84218298e-01] [-6.36345576e-03 -2.37436538e-03 9.99976934e-01 1.14744793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011652532 meters 0.36167109516385737 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.69, Z:0.01 [[ 0.99997098 0.00192629 0.00737102 -0.52897054] [-0.00195078 0.99999259 0.00331731 -0.68633896] [-0.00736458 -0.00333159 0.99996733 0.01165907] [ 0. 0. 0. 1. ]] SLAMing on 11.041652531999999 meters 0.35700529131019704 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.69, Z:0.01 [[ 0.99996784 0.00249536 0.00762225 -0.52969241] [-0.0025271 0.99998816 0.00415753 -0.68903155] [-0.00761178 -0.00417666 0.99996231 0.01171234] [ 0. 0. 0. 1. ]] SLAMing on 11.071652532 meters 0.35591074406038414 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.69, Z:0.01 [[ 0.99996189 0.00305584 0.00817794 -0.53114337] [-0.00309641 0.99998294 0.00495384 -0.69160437] [-0.00816266 -0.00497898 0.99995429 0.01173814] [ 0. 0. 0. 1. ]] SLAMing on 11.101652532 meters 0.3547384856665576 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.69, Z:0.01 [[ 0.99995453 0.00337823 0.00891809 -0.53295088] [-0.00342573 0.99998 0.00531604 -0.69288384] [-0.00889995 -0.00534635 0.9999461 0.01165038] [ 0. 0. 0. 1. ]] SLAMing on 11.131652531999999 meters 0.36527347035941043 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.69, Z:0.01 [[ 0.99993763 0.00461355 0.01017113 -0.53499866] [-0.00467699 0.9999697 0.00622241 -0.69475244] [-0.01014212 -0.00626959 0.99992891 0.01012598] [ 0. 0. 0. 1. ]] SLAMing on 11.161652532 meters 0.36687079524134847 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.69, Z:0.01 [[ 0.99993404 0.00446427 0.01058273 -0.53561924] [-0.00452609 0.99997279 0.00582498 -0.69356954] [-0.01055644 -0.0058725 0.99992704 0.00953301] [ 0. 0. 0. 1. ]] SLAMing on 11.191652531999999 meters 0.370378995176173 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.69, Z:0.01 [[ 0.99993421 0.00441145 0.01058841 -0.53541718] [-0.00447232 0.99997357 0.00573159 -0.6933216 ] [-0.01056285 -0.00577857 0.99992751 0.00924214] [ 0. 0. 0. 1. ]] SLAMing on 11.221652531999998 meters 0.35997256556991303 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.69, Z:0.01 [[ 9.99938494e-01 4.28151658e-04 1.10826223e-02 -5.36815332e-01] [-4.47736838e-04 9.99998343e-01 1.76477647e-03 -6.94582303e-01] [-1.10818484e-02 -1.76963003e-03 9.99937029e-01 9.40025403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251652532 meters 0.37728514566713894 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 9.99946030e-01 6.51170348e-04 1.03688478e-02 -5.35126062e-01] [-6.75322022e-04 9.99997067e-01 2.32592253e-03 -6.96361255e-01] [-1.03673028e-02 -2.33279932e-03 9.99943537e-01 9.48563969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281652531999999 meters 0.374334196898732 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99947647e-01 8.76819683e-04 1.01948447e-02 -5.34936542e-01] [-9.04870660e-04 9.99995817e-01 2.74719946e-03 -6.97717264e-01] [-1.01923932e-02 -2.75628065e-03 9.99944257e-01 9.78968983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311652531999998 meters 0.367314997400648 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 9.99947562e-01 8.47439411e-04 1.02056367e-02 -5.35156570e-01] [-8.75050137e-04 9.99995969e-01 2.70127748e-03 -6.97486871e-01] [-1.02033064e-02 -2.71006628e-03 9.99944272e-01 1.00772082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341652532 meters 0.3752535373100033 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99994588 0.0010089 0.0103543 -0.53541732] [-0.00103923 0.99999518 0.00292431 -0.69828286] [-0.0103513 -0.00293491 0.99994212 0.00984923] [ 0. 0. 0. 1. ]] SLAMing on 11.371652531999999 meters 0.3628084537120484 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99994333 0.0010743 0.01059117 -0.53597099] [-0.00110576 0.99999499 0.00296445 -0.69847868] [-0.01058794 -0.00297599 0.99993952 0.00976016] [ 0. 0. 0. 1. ]] SLAMing on 11.401652532 meters 0.3687967918961546 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99994123 0.00127383 0.01076656 -0.53646899] [-0.0013088 0.99999389 0.00324169 -0.699443 ] [-0.01076236 -0.00325559 0.99993678 0.00978398] [ 0. 0. 0. 1. ]] SLAMing on 11.431652532 meters 0.36533733897133613 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99993829 0.00145129 0.01101438 -0.53688194] [-0.00148939 0.99999293 0.00345195 -0.70024672] [-0.01100929 -0.00346814 0.99993338 0.00943023] [ 0. 0. 0. 1. ]] SLAMing on 11.461652531999999 meters 0.3650585767987281 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99993598 0.00136348 0.01123317 -0.53696888] [-0.00139974 0.99999383 0.00322069 -0.69961781] [-0.01122871 -0.00323621 0.99993172 0.00875349] [ 0. 0. 0. 1. ]] SLAMing on 11.491652532 meters 0.365539164684118 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.9999302 0.00113024 0.01176102 -0.53761805] [-0.00116157 0.99999579 0.00265784 -0.6979415 ] [-0.01175796 -0.00267132 0.9999273 0.00780447] [ 0. 0. 0. 1. ]] SLAMing on 11.521652532 meters 0.3658348284881229 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99992412 0.00104613 0.01227476 -0.53844047] [-0.00107491 0.99999669 0.00233867 -0.69704828] [-0.01227227 -0.00235169 0.99992193 0.00711625] [ 0. 0. 0. 1. ]] SLAMing on 11.551652531999999 meters 0.36754851598346033 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99991453 0.00148942 0.01298935 -0.54050722] [-0.00152646 0.9999948 0.00284238 -0.69860528] [-0.01298505 -0.00286196 0.99991159 0.00752356] [ 0. 0. 0. 1. ]] SLAMing on 11.581652532 meters 0.36636022965564613 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99991687 0.0018605 0.01275932 -0.5406118 ] [-0.00190561 0.99999197 0.00352439 -0.70071265] [-0.01275266 -0.00354842 0.99991239 0.00844563] [ 0. 0. 0. 1. ]] SLAMing on 11.611652531999999 meters 0.3662545265556126 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.9999216 0.00214545 0.01233623 -0.5401915 ] [-0.00219673 0.999989 0.00414484 -0.70258302] [-0.01232721 -0.00417162 0.99991532 0.00934904] [ 0. 0. 0. 1. ]] SLAMing on 11.641652531999998 meters 0.36409975173110753 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99993657 0.00186966 0.0111066 -0.53765109] [-0.00191717 0.99998906 0.00426775 -0.70270317] [-0.0110985 -0.00428877 0.99992921 0.01021838] [ 0. 0. 0. 1. ]] SLAMing on 11.671652532 meters 0.366193987430649 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99994242 0.00160647 0.01061052 -0.53615099] [-0.00164857 0.9999908 0.00395985 -0.70167035] [-0.01060406 -0.00397711 0.99993587 0.00988299] [ 0. 0. 0. 1. ]] SLAMing on 11.701652531999999 meters 0.3656119031788141 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99994464 0.00101606 0.01047283 -0.53538496] [-0.00104785 0.99999486 0.00303019 -0.69869504] [-0.0104697 -0.00304099 0.99994057 0.00933858] [ 0. 0. 0. 1. ]] SLAMing on 11.731652532 meters 0.3685078906579752 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 9.99941397e-01 8.40302439e-04 1.07933450e-02 -5.35881159e-01] [-8.69119352e-04 9.99996070e-01 2.66546489e-03 -6.97565438e-01] [-1.07910628e-02 -2.67468939e-03 9.99938198e-01 8.90584027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761652532 meters 0.36929045607482053 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99992884 0.00476215 0.01093807 -0.53549082] [-0.0048318 0.99996817 0.00634998 -0.69554177] [-0.01090748 -0.00640238 0.99992001 0.00795938] [ 0. 0. 0. 1. ]] SLAMing on 11.791652531999999 meters 0.3682292954498318 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99992805 0.00485484 0.01096911 -0.53582527] [-0.0049265 0.99996664 0.00651596 -0.69606855] [-0.01093711 -0.00656953 0.99991861 0.00835011] [ 0. 0. 0. 1. ]] SLAMing on 11.821652532 meters 0.37317543309950585 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.70, Z:0.01 [[ 0.99993053 0.004812 0.01075993 -0.53553086] [-0.00488249 0.99996673 0.00653468 -0.69604689] [-0.01072812 -0.00658676 0.99992076 0.00875071] [ 0. 0. 0. 1. ]] SLAMing on 11.851652532 meters 0.3793260587882706 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993591 0.00505101 0.0101321 -0.53386197] [-0.00512339 0.99996145 0.00713078 -0.6980662 ] [-0.01009569 -0.00718224 0.99992324 0.00858909] [ 0. 0. 0. 1. ]] SLAMing on 11.881652531999999 meters 0.3834754876491378 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993872 0.00486489 0.00994427 -0.53314836] [-0.00493328 0.99996427 0.00686415 -0.69719513] [-0.00991052 -0.00691278 0.99992699 0.00829184] [ 0. 0. 0. 1. ]] SLAMing on 11.911652532 meters 0.38240970157426657 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99994162 0.00464824 0.00975486 -0.53253715] [-0.00471208 0.99996757 0.00653145 -0.69606739] [-0.00972418 -0.00657704 0.99993109 0.00816143] [ 0. 0. 0. 1. ]] SLAMing on 11.941652531999999 meters 0.38338236522283226 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99994478 0.00444953 0.00952068 -0.53191184] [-0.0045093 0.9999702 0.00626583 -0.69514995] [-0.00949252 -0.00630842 0.99993505 0.00819142] [ 0. 0. 0. 1. ]] SLAMing on 11.971652531999998 meters 0.37751402443550003 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99952957e-01 4.29291787e-04 9.69017031e-03 -5.33350710e-01] [-4.52211408e-04 9.99997105e-01 2.36317723e-03 -6.96158162e-01] [-9.68912777e-03 -2.36744806e-03 9.99950257e-01 9.58281480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001652532 meters 0.36113944608422965 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99958097e-01 4.80962188e-04 9.14179342e-03 -5.32557030e-01] [-5.05386834e-04 9.99996309e-01 2.66963418e-03 -6.96949737e-01] [-9.14047568e-03 -2.67414246e-03 9.99954649e-01 1.04551899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031652531999999 meters 0.3529561630897535 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99962833e-01 4.52087802e-04 8.60983249e-03 -5.31621933e-01] [-4.76640842e-04 9.99995825e-01 2.84990576e-03 -6.97413469e-01] [-8.60850814e-03 -2.85390363e-03 9.99958874e-01 1.10795032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061652531999998 meters 0.34512850907482207 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99996063 -0.00405731 0.0078917 -0.53041481] [ 0.00406813 0.99999081 -0.00135515 -0.69758149] [-0.00788613 0.0013872 0.99996794 0.01209291] [ 0. 0. 0. 1. ]] SLAMing on 12.091652532 meters 0.3422591099020158 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993482 -0.00859828 0.00751111 -0.52989679] [ 0.00864269 0.99994525 -0.00589957 -0.69690976] [-0.00745997 0.0059641 0.99995439 0.01301391] [ 0. 0. 0. 1. ]] SLAMing on 12.121652531999999 meters 0.3354781377099157 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993969 -0.00896406 0.00634521 -0.52780583] [ 0.00900202 0.99994161 -0.0059787 -0.69672309] [-0.00629124 0.00603545 0.999962 0.01423689] [ 0. 0. 0. 1. ]] SLAMing on 12.151652532 meters 0.3570992651121051 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.69, Z:0.01 [[ 0.99996924 -0.00602764 0.0050182 -0.52412343] [ 0.00604271 0.99997726 -0.00299294 -0.69425902] [-0.00500004 0.00302317 0.99998293 0.01341856] [ 0. 0. 0. 1. ]] SLAMing on 12.181652532 meters 0.3377285593717532 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99996938 -0.00563792 0.00542762 -0.52500971] [ 0.00565141 0.99998097 -0.00247299 -0.69604999] [-0.00541357 0.00250359 0.99998221 0.01302813] [ 0. 0. 0. 1. ]] SLAMing on 12.211652531999999 meters 0.33877545930261443 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99998767 -0.00140944 0.0047624 -0.52345305] [ 0.00140012 0.9999971 0.00195797 -0.69625047] [-0.00476515 -0.00195127 0.99998674 0.01314168] [ 0. 0. 0. 1. ]] SLAMing on 12.241652532 meters 0.3372721672975604 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99998954 -0.00150004 0.00432039 -0.52294988] [ 0.00149125 0.99999681 0.00203847 -0.69626221] [-0.00432344 -0.00203201 0.99998859 0.01410357] [ 0. 0. 0. 1. ]] SLAMing on 12.271652532 meters 0.33240225642765614 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.02 [[ 0.99999187 -0.00222322 0.00336449 -0.52170289] [ 0.00221771 0.9999962 0.00163955 -0.69553081] [-0.00336812 -0.00163208 0.999993 0.01580838] [ 0. 0. 0. 1. ]] SLAMing on 12.301652531999999 meters 0.3330545549872739 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.02 [[ 0.99999509 -0.00224483 0.0021862 -0.51890625] [ 0.00224049 0.99999552 0.00198674 -0.69657701] [-0.00219065 -0.00198183 0.99999564 0.0160222 ] [ 0. 0. 0. 1. ]] SLAMing on 12.331652532 meters 0.33628743070533723 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.02 [[ 0.99999563 -0.00197237 0.00220099 -0.51841966] [ 0.00196711 0.99999521 0.00238843 -0.69801124] [-0.00220569 -0.00238409 0.99999473 0.01515943] [ 0. 0. 0. 1. ]] SLAMing on 12.361652531999999 meters 0.3354140973373266 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.9999956 -0.00182302 0.00234096 -0.51857168] [ 0.00181694 0.99999498 0.00259533 -0.69876122] [-0.00234568 -0.00259106 0.99999389 0.01479576] [ 0. 0. 0. 1. ]] SLAMing on 12.391652531999998 meters 0.32667434272070345 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.69, Z:0.02 [[ 0.99996795 -0.00769784 0.00220232 -0.51893092] [ 0.00770596 0.99996345 -0.0037045 -0.69404745] [-0.00217372 0.00372136 0.99999071 0.01586681] [ 0. 0. 0. 1. ]] SLAMing on 12.421652532 meters 0.3356414353704726 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.69, Z:0.02 [[ 0.99996657 -0.00800215 0.00168148 -0.51782295] [ 0.00800885 0.99995985 -0.00401957 -0.69304278] [-0.00164925 0.0040329 0.99999051 0.01623412] [ 0. 0. 0. 1. ]] SLAMing on 12.451652531999999 meters 0.3356414353704726 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.69, Z:0.02 [[ 0.99996657 -0.00800215 0.00168148 -0.51782295] [ 0.00800885 0.99995985 -0.00401957 -0.69304278] [-0.00164925 0.0040329 0.99999051 0.01623412] [ 0. 0. 0. 1. ]] SLAMing on 12.481652532 meters 0.32910457562200923 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 9.99988962e-01 -4.69245691e-03 2.37289527e-04 -5.14449329e-01] [ 4.69254961e-03 9.99988913e-01 -3.91625222e-04 -6.91750796e-01] [-2.35449212e-04 3.92734392e-04 9.99999895e-01 1.63827163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511652532 meters 0.32712754628682483 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 9.99992202e-01 -3.94578999e-03 -1.63029042e-04 -5.12867009e-01] [ 3.94592071e-03 9.99991887e-01 8.09448321e-04 -6.95238495e-01] [ 1.59833806e-04 -8.10085309e-04 9.99999659e-01 1.54572644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541652531999999 meters 0.32151562376413517 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 9.99990159e-01 -4.36721642e-03 -7.80334295e-04 -5.11298227e-01] [ 4.36745108e-03 9.99990418e-01 2.99262586e-04 -6.93614978e-01] [ 7.79019874e-04 -3.02667712e-04 9.99999651e-01 1.54940119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571652532 meters 0.3223156297253782 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 9.99990570e-01 -4.25428995e-03 -8.72506154e-04 -5.11226391e-01] [ 4.25473377e-03 9.99990820e-01 5.07449750e-04 -6.94272764e-01] [ 8.70339306e-04 -5.11157246e-04 9.99999491e-01 1.57057832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601652532 meters 0.32072689647112695 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 9.99990881e-01 -4.22306496e-03 -6.35472545e-04 -5.12304996e-01] [ 4.22339670e-03 9.99990945e-01 5.21611064e-04 -6.94184819e-01] [ 6.33263994e-04 -5.24290160e-04 9.99999662e-01 1.64143956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631652531999999 meters 0.32286813249567914 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 9.99999782e-01 5.78162599e-04 -3.18776916e-04 -5.13993280e-01] [-5.76364861e-04 9.99984092e-01 5.61102782e-03 -6.96418926e-01] [ 3.22015931e-04 -5.61084286e-03 9.99984207e-01 1.76602591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661652532 meters 0.3234221710902826 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 9.99998698e-01 1.45437521e-03 -6.98478611e-04 -5.13302284e-01] [-1.44941155e-03 9.99974062e-01 7.05508325e-03 -7.01032560e-01] [ 7.08721232e-04 -7.05406168e-03 9.99974869e-01 1.80561212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691652531999999 meters 0.3151002819059924 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 0.99996705 -0.00798824 -0.00144676 -0.5112856 ] [ 0.00798504 0.99996569 -0.00220629 -0.69947735] [ 0.00146433 0.00219466 0.99999652 0.0182894 ] [ 0. 0. 0. 1. ]] SLAMing on 12.721652531999998 meters 0.3092069777018828 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 0.99991397 -0.01283007 -0.0027279 -0.50829817] [ 0.01281114 0.99989449 -0.0068474 -0.69872298] [ 0.00281547 0.00681186 0.99997284 0.01890152] [ 0. 0. 0. 1. ]] SLAMing on 12.751652532 meters 0.3099676543788491 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.70, Z:0.02 [[ 0.99995365 -0.00894758 -0.00355373 -0.50536429] [ 0.00893695 0.99995558 -0.00299638 -0.69779694] [ 0.00358038 0.00296448 0.9999892 0.01757904] [ 0. 0. 0. 1. ]] SLAMing on 12.781652531999999 meters 0.3135365270424971 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.70, Z:0.02 [[ 9.99980779e-01 -4.96214984e-03 -3.71746011e-03 -5.04353433e-01] [ 4.96515595e-03 9.99987354e-01 7.99854910e-04 -6.96238636e-01] [ 3.71344409e-03 -8.18297305e-04 9.99992770e-01 1.66836206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811652531999998 meters 0.3162653135737963 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.69, Z:0.02 [[ 0.99999176 -0.00120807 -0.00387556 -0.50335049] [ 0.00122429 0.99999049 0.00418672 -0.69338641] [ 0.00387047 -0.00419143 0.99998373 0.01587348] [ 0. 0. 0. 1. ]] SLAMing on 12.841652532 meters 0.3180488197225059 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 9.99996726e-01 -9.71056240e-04 -2.36730966e-03 -5.06752384e-01] [ 9.79881148e-04 9.99992565e-01 3.72951645e-03 -6.91762992e-01] [ 2.36367049e-03 -3.73182392e-03 9.99990243e-01 1.52955092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871652531999999 meters 0.31987030959772106 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 0.99999592 -0.0013647 -0.00250979 -0.50658652] [ 0.00137273 0.99999394 0.00319803 -0.69003381] [ 0.00250541 -0.00320146 0.99999174 0.01577846] [ 0. 0. 0. 1. ]] SLAMing on 12.901652532 meters 0.31475364541571266 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.02 [[ 0.9999955 -0.00139761 -0.00265394 -0.50635357] [ 0.0014061 0.9999939 0.00319745 -0.68998893] [ 0.00264946 -0.00320117 0.99999137 0.01601692] [ 0. 0. 0. 1. ]] SLAMing on 12.931652532 meters 0.3150729888051842 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.69, Z:0.02 [[ 0.99999451 -0.00136839 -0.00301679 -0.5049119 ] [ 0.00137849 0.99999345 0.00334667 -0.69059586] [ 0.00301219 -0.00335081 0.99998985 0.01524521] [ 0. 0. 0. 1. ]] SLAMing on 12.961652531999999 meters 0.31491865584367573 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.69, Z:0.02 [[ 0.99999411 -0.0016242 -0.00302387 -0.50482845] [ 0.00163306 0.99999437 0.00293207 -0.68923919] [ 0.00301909 -0.00293699 0.99999113 0.01522061] [ 0. 0. 0. 1. ]] SLAMing on 12.991652532 meters 0.31574883239515106 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.69, Z:0.02 [[ 0.99999441 -0.00142155 -0.0030259 -0.5047467 ] [ 0.00143142 0.99999365 0.00326362 -0.69037634] [ 0.00302124 -0.00326793 0.9999901 0.01505689] [ 0. 0. 0. 1. ]] SLAMing on 13.021652532 meters 0.3177410219017997 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.69, Z:0.01 [[ 0.99999372 -0.00140071 -0.00325643 -0.50407657] [ 0.00141165 0.99999336 0.0033598 -0.69070574] [ 0.00325171 -0.00336438 0.99998905 0.01494211] [ 0. 0. 0. 1. ]] SLAMing on 13.051652531999999 meters 0.31902078102700765 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 9.99996704e-01 -9.64086589e-04 -2.37952666e-03 -5.05921645e-01] [ 9.72456844e-04 9.99993336e-01 3.51896693e-03 -6.91203327e-01] [ 2.37611822e-03 -3.52126932e-03 9.99990977e-01 1.42863023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081652532 meters 0.3366989113126871 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 0.99999348 0.00287059 -0.00219246 -0.50555153] [-0.00285524 0.99997162 0.00697168 -0.68855445] [ 0.00221241 -0.00696538 0.99997329 0.01320179] [ 0. 0. 0. 1. ]] SLAMing on 13.111652531999999 meters 0.3238662285603229 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 0.99999414 0.00325548 -0.00105953 -0.50782813] [-0.0032479 0.99996967 0.0070787 -0.689209 ] [ 0.00108254 -0.00707522 0.99997438 0.01223077] [ 0. 0. 0. 1. ]] SLAMing on 13.141652531999998 meters 0.33103059790339 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 9.99992751e-01 3.80753006e-03 -2.48480943e-06 -5.10204275e-01] [-3.80740830e-03 9.99965583e-01 7.37129001e-03 -6.90180587e-01] [ 3.05511322e-05 -7.37122711e-03 9.99972832e-01 1.17033288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171652532 meters 0.334795478977484 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 9.99965707e-01 8.21975655e-03 1.01014931e-03 -5.12512828e-01] [-8.23076779e-03 9.99900820e-01 1.14282283e-02 -6.89431428e-01] [-9.16111871e-04 -1.14361507e-02 9.99934185e-01 1.14508067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201652531999999 meters 0.3435297758243795 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 0.99995863 0.00890379 0.0018597 -0.51463679] [-0.00892593 0.99988505 0.01225594 -0.6921008 ] [-0.00175036 -0.01227203 0.99992316 0.01137894] [ 0. 0. 0. 1. ]] SLAMing on 13.231652531999998 meters 0.3435354624088156 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.69, Z:0.01 [[ 0.99990691 0.01352783 0.00177906 -0.51448751] [-0.01355633 0.99976146 0.01712429 -0.69380526] [-0.00154698 -0.01714681 0.99985179 0.01155589] [ 0. 0. 0. 1. ]] SLAMing on 13.261652532 meters 0.34226439686780213 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99990199 0.01382393 0.00221766 -0.51583837] [-0.01386068 0.99975059 0.0175109 -0.69513324] [-0.00197504 -0.01753992 0.99984421 0.01187157] [ 0. 0. 0. 1. ]] SLAMing on 13.291652531999999 meters 0.3466334330321031 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99993246 0.01102244 0.00368414 -0.5198878 ] [-0.01107509 0.99983221 0.0145906 -0.69845875] [-0.0035227 -0.01463042 0.99988676 0.01231073] [ 0. 0. 0. 1. ]] SLAMing on 13.321652532 meters 0.34765210835738025 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99993085 0.01109583 0.00389594 -0.51992197] [-0.0111517 0.99983087 0.01462426 -0.69874966] [-0.00373302 -0.0146667 0.99988547 0.01153724] [ 0. 0. 0. 1. ]] SLAMing on 13.351652532 meters 0.3451453442128872 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99996755 0.00661145 0.00460373 -0.5212172 ] [-0.00665603 0.99993044 0.00973733 -0.69721579] [-0.00453903 -0.00976765 0.99994199 0.01070199] [ 0. 0. 0. 1. ]] SLAMing on 13.381652531999999 meters 0.34155447044649373 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.69, Z:0.01 [[ 0.99996581 0.00623228 0.00543488 -0.52225981] [-0.00627996 0.99994156 0.00880016 -0.69448294] [-0.00537971 -0.00883399 0.99994651 0.00922642] [ 0. 0. 0. 1. ]] SLAMing on 13.411652532 meters 0.34526416227500384 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.70, Z:0.01 [[ 0.99995887 0.00659745 0.00622357 -0.52416918] [-0.00665459 0.99993548 0.00920605 -0.69592074] [-0.00616243 -0.00924709 0.99993826 0.00907378] [ 0. 0. 0. 1. ]] SLAMing on 13.441652531999999 meters 0.34936755864058877 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.9999538 0.00673502 0.00685768 -0.52571982] [-0.0067984 0.999934 0.00926139 -0.69621401] [-0.00679485 -0.00930758 0.9999336 0.00900314] [ 0. 0. 0. 1. ]] SLAMing on 13.471652531999998 meters 0.3603398893800266 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99994915 0.00702224 0.00723807 -0.52679458] [-0.00709188 0.99992837 0.00964114 -0.69752413] [-0.00716985 -0.00969198 0.99992733 0.00912655] [ 0. 0. 0. 1. ]] SLAMing on 13.501652532 meters 0.35042258925286524 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99994536 0.00729697 0.00748566 -0.52761305] [-0.00737201 0.99992236 0.01004666 -0.69888851] [-0.00741177 -0.0101013 0.99992151 0.0093807 ] [ 0. 0. 0. 1. ]] SLAMing on 13.531652531999999 meters 0.3514598739842894 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99994091 0.00767688 0.0076969 -0.52819088] [-0.00775853 0.99991335 0.01063471 -0.70091546] [-0.00761459 -0.0106938 0.99991383 0.00941239] [ 0. 0. 0. 1. ]] SLAMing on 13.561652531999998 meters 0.3549696601980152 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993563 0.00825294 0.00778639 -0.52860361] [-0.00834267 0.99989835 0.01156239 -0.70388542] [-0.00769018 -0.01162661 0.99990284 0.00963658] [ 0. 0. 0. 1. ]] SLAMing on 13.591652532 meters 0.3504966678350567 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 0.99993575 0.00833315 0.00768532 -0.5282408 ] [-0.0084229 0.99989582 0.01172166 -0.70444346] [-0.00758684 -0.01178564 0.99990176 0.00944877] [ 0. 0. 0. 1. ]] SLAMing on 13.621652531999999 meters 0.3508192807527468 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 0.99995263 0.00477823 0.00847981 -0.53042474] [-0.00484838 0.99995404 0.00827091 -0.70709811] [-0.0084399 -0.00831163 0.99992984 0.00952661] [ 0. 0. 0. 1. ]] SLAMing on 13.651652532 meters 0.34940490837898935 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 0.99995631 0.00464936 0.00810987 -0.52946474] [-0.00471566 0.99995546 0.00817561 -0.70673224] [-0.0080715 -0.00821349 0.99993369 0.00952815] [ 0. 0. 0. 1. ]] SLAMing on 13.681652532 meters 0.34747512120377416 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99968358e-01 6.50274467e-04 7.92848734e-03 -5.29408752e-01] [-6.85399847e-04 9.99989960e-01 4.42836315e-03 -7.08627697e-01] [-7.92552808e-03 -4.43365721e-03 9.99958763e-01 1.00303284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711652531999999 meters 0.34742982993457955 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99972115e-01 6.14896023e-04 7.44246909e-03 -5.28322667e-01] [-6.48672379e-04 9.99989498e-01 4.53676399e-03 -7.08900234e-01] [-7.43960130e-03 -4.54146521e-03 9.99962013e-01 1.02716918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741652532 meters 0.343507169979036 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99972223e-01 5.85340727e-04 7.43032527e-03 -5.28331012e-01] [-6.18785767e-04 9.99989685e-01 4.49965365e-03 -7.08755638e-01] [-7.42761480e-03 -4.50412644e-03 9.99962271e-01 1.03377317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771652532 meters 0.34804706820391346 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99966136e-01 5.52912222e-04 8.21106740e-03 -5.29790986e-01] [-5.87247465e-04 9.99991092e-01 4.17975881e-03 -7.07891408e-01] [-8.20868322e-03 -4.18443919e-03 9.99957553e-01 9.59822877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801652531999999 meters 0.34522940081720394 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99965330e-01 2.60932520e-04 8.32294974e-03 -5.29711312e-01] [-2.91525793e-04 9.99993206e-01 3.67477146e-03 -7.06326563e-01] [-8.32193433e-03 -3.67707041e-03 9.99958611e-01 9.10988979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831652532 meters 0.3420764066365265 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99966984e-01 -2.96963086e-04 8.12053520e-03 -5.28830452e-01] [ 2.74138947e-04 9.99996010e-01 2.81163794e-03 -7.03594720e-01] [-8.12133775e-03 -2.80931895e-03 9.99963075e-01 8.61297328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861652531999999 meters 0.3466010155617648 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.70, Z:0.01 [[ 9.99966353e-01 -3.68884906e-04 8.19488696e-03 -5.28786896e-01] [ 3.47046460e-04 9.99996386e-01 2.66614897e-03 -7.03175034e-01] [-8.19584084e-03 -2.66321526e-03 9.99962867e-01 8.27559755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891652531999998 meters 0.34488769865598756 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 9.99960786e-01 8.82111397e-04 8.81178307e-03 -5.30130291e-01] [-9.20779131e-04 9.99989962e-01 4.38509232e-03 -7.07588719e-01] [-8.80782648e-03 -4.39303407e-03 9.99951561e-01 8.28040185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921652532 meters 0.3459017710650122 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 0.99995739 0.0014176 0.00912177 -0.53129477] [-0.0014651 0.9999854 0.00520204 -0.71018545] [-0.00911426 -0.00521518 0.99994486 0.00882763] [ 0. 0. 0. 1. ]] SLAMing on 13.951652531999999 meters 0.3496535846807444 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.71, Z:0.01 [[ 0.9999504 0.00201878 0.00975314 -0.53302108] [-0.00207749 0.99997976 0.00601326 -0.71277556] [-0.0097408 -0.00603323 0.99993436 0.00898254] [ 0. 0. 0. 1. ]] SLAMing on 13.981652531999998 meters 0.3508789452535439 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.71, Z:0.01 [[ 0.99994135 0.00216965 0.01061044 -0.53502092] [-0.00223308 0.99997969 0.00596998 -0.71277255] [-0.01059727 -0.00599332 0.99992589 0.00875333] [ 0. 0. 0. 1. ]] SLAMing on 14.011652532 meters 0.3559714416592522 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.71, Z:0.01 [[ 0.9999271 0.00298033 0.01170123 -0.53739012] [-0.00305634 0.99997432 0.00648277 -0.71393119] [-0.01168161 -0.00651806 0.99991052 0.00808963] [ 0. 0. 0. 1. ]] SLAMing on 14.041652531999999 meters 0.35789548366029106 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.71, Z:0.01 [[ 0.99992648 0.00296559 0.0117576 -0.53719059] [-0.00304143 0.99997466 0.00643696 -0.71390499] [-0.01173821 -0.00647225 0.99991016 0.00758878] [ 0. 0. 0. 1. ]] SLAMing on 14.071652532 meters 0.35894603883232257 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.71, Z:0.01 [[ 0.99992728 0.0029519 0.01169314 -0.53676197] [-0.00302706 0.99997484 0.00641468 -0.71390961] [-0.01167391 -0.00644961 0.99991106 0.00719237] [ 0. 0. 0. 1. ]] SLAMing on 14.101652532 meters 0.36076079757725604 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.9999232 0.00340206 0.01191749 -0.53674597] [-0.00348449 0.9999701 0.00690287 -0.71535817] [-0.01189365 -0.00694387 0.99990516 0.00622259] [ 0. 0. 0. 1. ]] SLAMing on 14.131652531999999 meters 0.36270553867802624 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99992033 0.0035327 0.01211869 -0.53714409] [-0.00361848 0.9999685 0.0070637 -0.71596859] [-0.01209335 -0.00710698 0.99990162 0.00602841] [ 0. 0. 0. 1. ]] SLAMing on 14.161652532 meters 0.362290467278667 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99991768 0.00351601 0.01233969 -0.53761128] [-0.00360225 0.99996919 0.00697394 -0.71571676] [-0.01231479 -0.00701782 0.99989954 0.00590048] [ 0. 0. 0. 1. ]] SLAMing on 14.191652531999999 meters 0.36961674023949 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99990275 0.00412326 0.01332283 -0.53977322] [-0.00422422 0.99996251 0.00755864 -0.71750405] [-0.01329117 -0.00761419 0.99988268 0.00544119] [ 0. 0. 0. 1. ]] SLAMing on 14.221652531999998 meters 0.36938198665464367 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99989426 0.00417451 0.01392967 -0.54113764] [-0.00427901 0.99996286 0.00748102 -0.71737161] [-0.01389793 -0.00753983 0.99987499 0.00520345] [ 0. 0. 0. 1. ]] SLAMing on 14.251652532 meters 0.3796887340236419 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.9998881 0.00426689 0.01433835 -0.54218255] [-0.00437544 0.99996194 0.00754805 -0.7176612 ] [-0.0143056 -0.00760994 0.99986871 0.00522312] [ 0. 0. 0. 1. ]] SLAMing on 14.281652531999999 meters 0.3680731319485473 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.00 [[ 9.99881586e-01 4.41407531e-04 1.53824021e-02 -5.44624415e-01] [-4.96384941e-04 9.99993503e-01 3.57041107e-03 -7.18729121e-01] [-1.53807261e-02 -3.57762388e-03 9.99875309e-01 4.97038952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311652531999998 meters 0.368018543528933 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.00 [[ 9.99879970e-01 3.98073275e-04 1.54882965e-02 -5.44838579e-01] [-4.51844373e-04 9.99993883e-01 3.46837998e-03 -7.18398100e-01] [-1.54868211e-02 -3.47496197e-03 9.99874034e-01 4.90153228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341652532 meters 0.368018543528933 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.00 [[ 9.99879970e-01 3.98073275e-04 1.54882965e-02 -5.44838579e-01] [-4.51844373e-04 9.99993883e-01 3.46837998e-03 -7.18398100e-01] [-1.54868211e-02 -3.47496197e-03 9.99874034e-01 4.90153228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371652531999999 meters 0.36934491445586276 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 9.99874589e-01 4.50447520e-04 1.58304638e-02 -5.45550034e-01] [-5.05304409e-04 9.99993882e-01 3.46144462e-03 -7.18469245e-01] [-1.58288078e-02 -3.46900972e-03 9.99868699e-01 4.65851073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401652531999998 meters 0.3798884747473576 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99985493 0.0013136 0.01698198 -0.54816951] [-0.00138355 0.99999061 0.00410754 -0.72003048] [-0.01697642 -0.00413044 0.99984736 0.00423406] [ 0. 0. 0. 1. ]] SLAMing on 14.431652532 meters 0.37442879146481145 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99984195 0.00169622 0.01769736 -0.54997767] [-0.00177717 0.99998803 0.00455933 -0.72158165] [-0.01768942 -0.00459007 0.99983299 0.00421777] [ 0. 0. 0. 1. ]] SLAMing on 14.461652531999999 meters 0.3790574296455697 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99983304 0.00555208 0.01740856 -0.54915725] [-0.00569741 0.99994925 0.0083094 -0.71964478] [-0.01736155 -0.0084072 0.99981393 0.00424228] [ 0. 0. 0. 1. ]] SLAMing on 14.491652532 meters 0.3815984386168667 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99982947 0.00568743 0.01756914 -0.54960284] [-0.00583761 0.99994676 0.00850881 -0.72035752] [-0.01751981 -0.00860992 0.99980944 0.00427825] [ 0. 0. 0. 1. ]] SLAMing on 14.521652532 meters 0.38084199282621795 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.9998321 0.00551543 0.01747419 -0.54891558] [-0.00565973 0.99995021 0.00821902 -0.71950984] [-0.01742799 -0.00831654 0.99981353 0.00364116] [ 0. 0. 0. 1. ]] SLAMing on 14.551652531999999 meters 0.3797191969293536 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99983224 0.00543113 0.0174926 -0.5487998 ] [-0.00557288 0.99995195 0.00806533 -0.71902369] [-0.01744796 -0.00816146 0.99981446 0.00341596] [ 0. 0. 0. 1. ]] SLAMing on 14.581652532 meters 0.38699198465340334 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99983349 0.00553562 0.01738812 -0.54851282] [-0.00568007 0.99994968 0.00826866 -0.71973186] [-0.01734147 -0.00836605 0.99981462 0.00335523] [ 0. 0. 0. 1. ]] SLAMing on 14.611652531999999 meters 0.37895615071863825 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99983527 0.00573576 0.0172202 -0.54825703] [-0.0058857 0.9999451 0.0086692 -0.72106132] [-0.01716953 -0.00876913 0.99981414 0.00356567] [ 0. 0. 0. 1. ]] SLAMing on 14.641652531999998 meters 0.37725004396055367 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99984011 0.00572272 0.01694122 -0.54782677] [-0.00587174 0.99994439 0.00875978 -0.72124397] [-0.01689015 -0.00885786 0.99981811 0.00400122] [ 0. 0. 0. 1. ]] SLAMing on 14.671652532 meters 0.38157168637001854 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99984282 0.00558029 0.01682815 -0.54763829] [-0.00572494 0.99994698 0.00855942 -0.72054172] [-0.01677949 -0.00865442 0.99982176 0.00421278] [ 0. 0. 0. 1. ]] SLAMing on 14.701652531999999 meters 0.3739982945736717 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99984458 0.0053863 0.01678687 -0.54735114] [-0.00552522 0.99995079 0.00823965 -0.71950945] [-0.01674167 -0.00833112 0.99982514 0.00398822] [ 0. 0. 0. 1. ]] SLAMing on 14.731652531999998 meters 0.36984929463979144 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 0.99998387 -0.00194011 0.00533729 -0.54831936] [ 0.00189256 0.99995861 0.00889887 -0.72513344] [-0.00535433 -0.00888863 0.99994616 0.00111327] [ 0. 0. 0. 1. ]] SLAMing on 14.761652532 meters 0.3679769162119283 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99998547 -0.00219678 0.0049237 -0.54754744] [ 0.00215418 0.99996034 0.00864204 -0.72422594] [-0.00494249 -0.00863131 0.99995053 0.00163548] [ 0. 0. 0. 1. ]] SLAMing on 14.791652531999999 meters 0.3636567013681451 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.99998679 -0.0022001 0.00464556 -0.54715538] [ 0.00215936 0.99995933 0.00875658 -0.72450451] [-0.00466464 -0.00874643 0.99995087 0.00213518] [ 0. 0. 0. 1. ]] SLAMing on 14.821652532 meters 0.362182261140805 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 0.99998813 -0.00195923 0.00446204 -0.54733466] [ 0.00191781 0.99995521 0.00926835 -0.72603148] [-0.00448 -0.00925968 0.99994709 0.00307249] [ 0. 0. 0. 1. ]] SLAMing on 14.851652532 meters 0.3636348990025629 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 0.99998629 -0.00189723 0.00487996 -0.54827185] [ 0.00185198 0.9999554 0.0092606 -0.72608887] [-0.00489732 -0.00925144 0.99994521 0.00288842] [ 0. 0. 0. 1. ]] SLAMing on 14.881652531999999 meters 0.3627590224243504 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 0.99998311 -0.00174305 0.00554488 -0.54965863] [ 0.00169131 0.99995512 0.00932234 -0.72645707] [-0.00556088 -0.00931281 0.99994117 0.0024566 ] [ 0. 0. 0. 1. ]] SLAMing on 14.911652532 meters 0.36670549763174903 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.72, Z:0.00 [[ 0.999983 0.00220826 0.005397 -0.54885892] [-0.00227878 0.99991165 0.01309575 -0.72472437] [-0.0053676 -0.01310783 0.99989968 0.00189483] [ 0. 0. 0. 1. ]] SLAMing on 14.941652531999999 meters 0.36966768806063227 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 0.99998171 0.00287085 0.00532297 -0.54871369] [-0.0029456 0.99989642 0.01408806 -0.72762661] [-0.00528198 -0.01410348 0.99988659 0.00180581] [ 0. 0. 0. 1. ]] SLAMing on 14.971652531999998 meters 0.3746674422392155 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99996927 0.00684888 0.00381453 -0.54115014] [-0.00687992 0.99994284 0.00818421 -0.72046935] [-0.00375826 -0.0082102 0.99995923 0.01133991] [ 0. 0. 0. 1. ]] SLAMing on 15.001652532 meters 0.37378542102835555 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99996791 0.00702168 0.0038557 -0.54150066] [-0.0070542 0.99993912 0.00848482 -0.72145601] [-0.00379588 -0.00851175 0.99995657 0.01169645] [ 0. 0. 0. 1. ]] SLAMing on 15.031652531999999 meters 0.3733606793077167 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99996667 0.00718311 0.00388007 -0.54150559] [-0.00721686 0.99993562 0.00875584 -0.72244241] [-0.00381692 -0.00878355 0.99995414 0.01158995] [ 0. 0. 0. 1. ]] SLAMing on 15.061652531999998 meters 0.3745328340980252 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99996704 0.00694893 0.00419967 -0.54143449] [-0.00698328 0.99994182 0.0082208 -0.72092991] [-0.0041423 -0.00824986 0.99995739 0.0103559 ] [ 0. 0. 0. 1. ]] SLAMing on 15.091652532 meters 0.3732286650659261 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.9999658 0.00703111 0.00435378 -0.5415806 ] [-0.00706712 0.99994048 0.00831161 -0.72135401] [-0.00429508 -0.0083421 0.99995598 0.00997878] [ 0. 0. 0. 1. ]] SLAMing on 15.121652531999999 meters 0.37853716224958134 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.9999585 0.00786144 0.0046029 -0.54287282] [-0.00790535 0.99992267 0.00959946 -0.72526484] [-0.00452708 -0.00963545 0.99994333 0.01095216] [ 0. 0. 0. 1. ]] SLAMing on 15.151652531999998 meters 0.37545723358555017 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99995547 0.00814541 0.00476545 -0.54363417] [-0.00819297 0.99991595 0.0100483 -0.72674918] [-0.0046832 -0.0100869 0.99993816 0.01145729] [ 0. 0. 0. 1. ]] SLAMing on 15.181652532 meters 0.3766353666405658 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99995335 0.00828591 0.00496479 -0.54402809] [-0.00833636 0.99991294 0.01022852 -0.72744916] [-0.0048796 -0.01026943 0.99993536 0.01127322] [ 0. 0. 0. 1. ]] SLAMing on 15.211652531999999 meters 0.37792982636805805 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99997 0.00480457 0.00607591 -0.54684219] [-0.00484537 0.99996569 0.00671825 -0.72976537] [-0.00604342 -0.00674749 0.99995897 0.01113113] [ 0. 0. 0. 1. ]] SLAMing on 15.241652532 meters 0.37559904696826907 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.9999675 0.00476441 0.00650392 -0.5477262 ] [-0.00480679 0.99996722 0.00651588 -0.72916295] [-0.00647267 -0.00654693 0.99995762 0.01086843] [ 0. 0. 0. 1. ]] SLAMing on 15.271652532 meters 0.37596924389746783 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.9999662 0.00485992 0.00663099 -0.54815782] [-0.00490409 0.9999658 0.00666001 -0.72966113] [-0.0065984 -0.0066923 0.99995584 0.01104559] [ 0. 0. 0. 1. ]] SLAMing on 15.301652531999999 meters 0.37502076307854965 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99996636 0.00500671 0.00649742 -0.54793077] [-0.00505193 0.99996299 0.00696324 -0.73067859] [-0.00646231 -0.00699583 0.99995465 0.01118219] [ 0. 0. 0. 1. ]] SLAMing on 15.331652532 meters 0.37428948544070545 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.9999675 0.00498061 0.00633969 -0.54758143] [-0.0050248 0.99996306 0.00697372 -0.73069877] [-0.00630472 -0.00700535 0.99995559 0.01127795] [ 0. 0. 0. 1. ]] SLAMing on 15.361652531999999 meters 0.37563771344602703 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99996722 0.00490144 0.00644501 -0.54748668] [-0.00494523 0.99996467 0.00679665 -0.73020738] [-0.00641147 -0.0068283 0.99995613 0.01076236] [ 0. 0. 0. 1. ]] SLAMing on 15.391652531999998 meters 0.37583135144393537 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99996523 0.00460795 0.00695075 -0.54826383] [-0.00465056 0.99997042 0.00612639 -0.72806303] [-0.00692231 -0.0061585 0.99995708 0.01010104] [ 0. 0. 0. 1. ]] SLAMing on 15.421652532 meters 0.37843265826256967 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.9999625 0.00448038 0.00741091 -0.54905351] [-0.00452304 0.99997324 0.00574986 -0.726927 ] [-0.00738495 -0.00578316 0.99995601 0.00959109] [ 0. 0. 0. 1. ]] SLAMing on 15.451652531999999 meters 0.37655986502114996 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99996923 0.00404921 0.00671927 -0.54736571] [-0.00408495 0.99997753 0.00531439 -0.72556267] [-0.0066976 -0.00534167 0.9999633 0.00976845] [ 0. 0. 0. 1. ]] SLAMing on 15.481652531999998 meters 0.375005623643537 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99976810e-01 9.77050316e-05 6.80961180e-03 -5.47868188e-01] [-1.08496502e-04 9.99998739e-01 1.58438950e-03 -7.27603868e-01] [-6.80944841e-03 -1.58509157e-03 9.99975559e-01 1.00938966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511652532 meters 0.3779892121316884 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99981761e-01 -9.70764066e-05 6.03884153e-03 -5.46381666e-01] [ 8.76598198e-05 9.99998780e-01 1.55958177e-03 -7.27336275e-01] [-6.03898556e-03 -1.55902396e-03 9.99980550e-01 1.08161059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541652531999999 meters 0.36911651370119486 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99985787e-01 -3.15103115e-04 5.32227756e-03 -5.45059634e-01] [ 3.06760016e-04 9.99998723e-01 1.56832404e-03 -7.27213950e-01] [-5.32276495e-03 -1.56666909e-03 9.99984607e-01 1.16127505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571652532 meters 0.369083618460935 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999157 -0.00150451 0.0038218 -0.5419436 ] [ 0.00149946 0.999998 0.00132223 -0.72739684] [-0.00382379 -0.00131648 0.99999182 0.01288753] [ 0. 0. 0. 1. ]] SLAMing on 15.601652532 meters 0.3574870211095991 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999272 -0.00157587 0.00347644 -0.5415035 ] [ 0.00157122 0.99999787 0.00133751 -0.7273081 ] [-0.00347854 -0.00133203 0.99999306 0.01356651] [ 0. 0. 0. 1. ]] SLAMing on 15.631652531999999 meters 0.3559886098904228 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999321 -0.00161771 0.00331141 -0.54121128] [ 0.00161342 0.99999785 0.00129947 -0.72712624] [-0.00331351 -0.00129412 0.99999367 0.01377062] [ 0. 0. 0. 1. ]] SLAMing on 15.661652532 meters 0.35472693953745005 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999345 -0.00171742 0.0031851 -0.54109958] [ 0.00171379 0.99999788 0.00114421 -0.72651728] [-0.00318706 -0.00113874 0.99999427 0.01411305] [ 0. 0. 0. 1. ]] SLAMing on 15.691652531999999 meters 0.35510580481891674 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999363 -0.00180539 0.00307831 -0.54075773] [ 0.00180219 0.99999783 0.00104237 -0.72616458] [-0.00308018 -0.00103682 0.99999472 0.01399066] [ 0. 0. 0. 1. ]] SLAMing on 15.721652531999998 meters 0.35650922959027037 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999335 -0.0017795 0.00318383 -0.54079116] [ 0.00177621 0.99999789 0.00103603 -0.72621701] [-0.00318567 -0.00103037 0.99999439 0.01360986] [ 0. 0. 0. 1. ]] SLAMing on 15.751652532 meters 0.35630676384901927 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99992421e-01 -1.82089032e-03 3.44133541e-03 -5.41315957e-01] [ 1.81787206e-03 9.99997960e-01 8.79985572e-04 -7.25736650e-01] [-3.44293075e-03 -8.73722995e-04 9.99993691e-01 1.34107646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781652531999999 meters 0.3563072950871246 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99990891e-01 -1.74666146e-03 3.89447595e-03 -5.42220451e-01] [ 1.74318457e-03 9.99998079e-01 8.95990693e-04 -7.25917385e-01] [-3.89603346e-03 -8.89193741e-04 9.99992015e-01 1.30300832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811652531999998 meters 0.3576735803348877 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99989637e-01 -1.71410696e-03 4.21766209e-03 -5.42950030e-01] [ 1.71052460e-03 9.99998173e-01 8.52832075e-04 -7.25835282e-01] [-4.21911623e-03 -8.45608822e-04 9.99990742e-01 1.28962803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841652532 meters 0.36569555231148165 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99989653e-01 -1.68631593e-03 4.22505201e-03 -5.42789625e-01] [ 1.68272766e-03 9.99998221e-01 8.52694391e-04 -7.25853040e-01] [-4.22648240e-03 -8.45575956e-04 9.99990711e-01 1.26064559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871652531999999 meters 0.3620971089200459 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998894 -0.00142703 0.00448211 -0.54347529] [ 0.00142151 0.99999823 0.00123572 -0.72717883] [-0.00448386 -0.00122934 0.99998919 0.01261752] [ 0. 0. 0. 1. ]] SLAMing on 15.901652531999998 meters 0.36474506334825463 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99986410e-01 -8.57045422e-04 5.14249038e-03 -5.45151750e-01] [ 8.46662128e-04 9.99997599e-01 2.02095512e-03 -7.29785027e-01] [-5.14421008e-03 -2.01657371e-03 9.99984735e-01 1.25637440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931652532 meters 0.3755523058545386 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99979899e-01 8.53822076e-05 6.33990773e-03 -5.48152385e-01] [-1.04871922e-04 9.99995270e-01 3.07386345e-03 -7.32912230e-01] [-6.33961529e-03 -3.07446654e-03 9.99975178e-01 1.25406369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961652531999999 meters 0.375500618518557 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99995918 0.00498577 0.00753545 -0.55051821] [-0.00504352 0.9999579 0.00766493 -0.73357465] [-0.00749691 -0.00770263 0.99994223 0.01155829] [ 0. 0. 0. 1. ]] SLAMing on 15.991652532 meters 0.38278499419164086 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99995061 0.00512477 0.00851563 -0.55240984] [-0.00518848 0.99995859 0.00747685 -0.73317773] [-0.00847696 -0.00752066 0.99993579 0.01065825] [ 0. 0. 0. 1. ]] SLAMing on 16.021652532 meters 0.39025524989173355 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99994506 0.00516499 0.00912099 -0.55337712] [-0.00523129 0.99995996 0.0072602 -0.73262199] [-0.00908312 -0.00730751 0.99993205 0.00979572] [ 0. 0. 0. 1. ]] SLAMing on 16.051652532000002 meters 0.3850473524213205 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99993642 0.00557841 0.00980023 -0.55483741] [-0.00565053 0.99995705 0.00734628 -0.73269752] [-0.00975883 -0.00740119 0.99992499 0.00936774] [ 0. 0. 0. 1. ]] SLAMing on 16.081652532 meters 0.3911362026567699 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99993383 0.00583643 0.00991341 -0.55510791] [-0.00591369 0.99995224 0.00778165 -0.7342144 ] [-0.00986752 -0.00783976 0.99992058 0.00929324] [ 0. 0. 0. 1. ]] SLAMing on 16.111652532 meters 0.39321312834632643 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99993117 0.00596197 0.01010465 -0.55555696] [-0.00604253 0.99995006 0.00796062 -0.73489444] [-0.01005668 -0.00802113 0.99991726 0.00922591] [ 0. 0. 0. 1. ]] SLAMing on 16.141652532000002 meters 0.39249042127712797 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.74, Z:0.01 [[ 0.99992567 0.0060998 0.01055731 -0.55650192] [-0.00618539 0.99994811 0.00809388 -0.73549345] [-0.01050739 -0.00815858 0.99991151 0.0089196 ] [ 0. 0. 0. 1. ]] SLAMing on 16.171652532 meters 0.4143938157892552 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99991821 0.00604685 0.01126942 -0.55772214] [-0.00613448 0.99995109 0.00775757 -0.7345199 ] [-0.01122196 -0.00782607 0.99990641 0.00809429] [ 0. 0. 0. 1. ]] SLAMing on 16.201652532 meters 0.40880054592517756 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99991699 0.00594191 0.01143266 -0.55795662] [-0.0060282 0.9999535 0.0075278 -0.73380198] [-0.0113874 -0.00759609 0.99990631 0.00787733] [ 0. 0. 0. 1. ]] SLAMing on 16.231652532000002 meters 0.3963800886158559 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.9999173 0.00589696 0.01142922 -0.55783294] [-0.00598231 0.99995437 0.00744721 -0.73356578] [-0.01138478 -0.00751497 0.99990695 0.00773699] [ 0. 0. 0. 1. ]] SLAMing on 16.261652532 meters 0.3963800886158559 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.9999173 0.00589696 0.01142922 -0.55783294] [-0.00598231 0.99995437 0.00744721 -0.73356578] [-0.01138478 -0.00751497 0.99990695 0.00773699] [ 0. 0. 0. 1. ]] SLAMing on 16.291652532 meters 0.39667953446339754 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.9999193 0.00589371 0.01125382 -0.55746286] [-0.00597816 0.99995412 0.00748507 -0.73364434] [-0.01120918 -0.00755174 0.99990866 0.00786395] [ 0. 0. 0. 1. ]] SLAMing on 16.321652532 meters 0.3981203269938782 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99992684 0.00557479 0.01073451 -0.556623 ] [-0.00565366 0.99995715 0.00733089 -0.73311787] [-0.01069318 -0.00739104 0.99991551 0.00874796] [ 0. 0. 0. 1. ]] SLAMing on 16.351652532 meters 0.39198681304043326 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99993396 0.00540171 0.01014359 -0.55531533] [-0.00547571 0.99995849 0.00728211 -0.7328826 ] [-0.01010383 -0.00733717 0.99992204 0.00913227] [ 0. 0. 0. 1. ]] SLAMing on 16.381652532 meters 0.3891934804484256 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99993937 0.00520275 0.00970525 -0.55445444] [-0.00527209 0.99996066 0.00713271 -0.73229963] [-0.00966776 -0.00718344 0.99992746 0.00962427] [ 0. 0. 0. 1. ]] SLAMing on 16.411652532 meters 0.37663492827037887 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.74, Z:0.01 [[ 0.99995369 0.00134079 0.00953031 -0.55479149] [-0.00137567 0.99999238 0.00365457 -0.73500657] [-0.00952533 -0.00366751 0.99994791 0.01066501] [ 0. 0. 0. 1. ]] SLAMing on 16.441652532 meters 0.37734936044812856 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.74, Z:0.01 [[ 0.99995638 0.00135811 0.00924043 -0.55402426] [-0.00139286 0.99999198 0.00375538 -0.73533024] [-0.00923525 -0.00376808 0.99995025 0.01060148] [ 0. 0. 0. 1. ]] SLAMing on 16.471652532 meters 0.36982626729458 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99995809 0.00107694 0.00909172 -0.55344255] [-0.00110675 0.99999403 0.00327448 -0.73366967] [-0.00908814 -0.00328441 0.99995331 0.01036555] [ 0. 0. 0. 1. ]] SLAMing on 16.501652532 meters 0.3778590324479551 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99959815e-01 8.32586409e-04 8.92605937e-03 -5.53074008e-01] [-8.58631481e-04 9.99995384e-01 2.91443401e-03 -7.32403719e-01] [-8.92359165e-03 -2.92198109e-03 9.99955915e-01 1.04891292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531652532000003 meters 0.3655494368744226 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99966493e-01 -2.47054981e-03 7.80440493e-03 -5.50721092e-01] [ 2.47115581e-03 9.99996944e-01 -6.80069586e-05 -7.28090999e-01] [-7.80421307e-03 8.72905805e-05 9.99969543e-01 1.11101399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561652532 meters 0.36004286271212277 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99971582e-01 -2.18678256e-03 7.21476869e-03 -5.49797634e-01] [ 2.18227769e-03 9.99997419e-01 6.32209523e-04 -7.30339258e-01] [-7.21613257e-03 -6.16446928e-04 9.99973773e-01 1.18813518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591652532 meters 0.36474090176144525 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99974058e-01 -2.04961637e-03 6.90519361e-03 -5.49360877e-01] [ 2.04270067e-03 9.99997405e-01 1.00842634e-03 -7.31525342e-01] [-6.90724258e-03 -9.94294931e-04 9.99975650e-01 1.23669371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621652532000002 meters 0.3665990671856291 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99975659e-01 -2.11959939e-03 6.64745540e-03 -5.48863498e-01] [ 2.11319547e-03 9.99997297e-01 9.70240251e-04 -7.31312154e-01] [-6.64949395e-03 -9.56169262e-04 9.99977435e-01 1.26076689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651652532 meters 0.36349445005504677 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99976466e-01 -2.81084796e-03 6.25827179e-03 -5.46934883e-01] [ 2.81125780e-03 9.99996047e-01 -5.66929827e-05 -7.28353888e-01] [-6.25808769e-03 7.42852639e-05 9.99980415e-01 1.12475716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681652532 meters 0.3587124898255438 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99976693e-01 -3.16190374e-03 6.05114449e-03 -5.46482159e-01] [ 3.16556028e-03 9.99994813e-01 -5.94789920e-04 -7.26493347e-01] [-6.04923243e-03 6.13931319e-04 9.99981515e-01 1.13937836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711652532000002 meters 0.35970384135733274 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99977363e-01 -2.99947648e-03 6.02303604e-03 -5.46603014e-01] [ 3.00112285e-03 9.99995462e-01 -2.64326376e-04 -7.27610161e-01] [-6.02221586e-03 2.82396263e-04 9.99981826e-01 1.16276896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741652532 meters 0.35961691341137053 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99979077e-01 -2.96706718e-03 5.74819230e-03 -5.46259510e-01] [ 2.96756239e-03 9.99995594e-01 -7.76225464e-05 -7.28130410e-01] [-5.74793666e-03 9.46790416e-05 9.99983476e-01 1.21575031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771652532 meters 0.3583631757376055 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99983275e-01 -2.83789507e-03 5.03954827e-03 -5.44897917e-01] [ 2.83580139e-03 9.99995890e-01 4.22545108e-04 -7.29680320e-01] [-5.04072669e-03 -4.08246882e-04 9.99987212e-01 1.27472487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801652532000002 meters 0.359229010120124 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99983191e-01 -2.75524010e-03 5.10168812e-03 -5.45223613e-01] [ 2.75236670e-03 9.99996050e-01 5.70162308e-04 -7.30155472e-01] [-5.10323890e-03 -5.56111007e-04 9.99986824e-01 1.29587379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831652532 meters 0.3625686850859442 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99980816e-01 -2.79263394e-03 5.52889041e-03 -5.46301541e-01] [ 2.79044416e-03 9.99996025e-01 4.03736045e-04 -7.29628601e-01] [-5.52999592e-03 -3.88300240e-04 9.99984634e-01 1.29700534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861652532 meters 0.36786715519192376 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99977980e-01 -2.68064038e-03 6.07071308e-03 -5.47518937e-01] [ 2.67793520e-03 9.99996311e-01 4.53695497e-04 -7.29923121e-01] [-6.07190688e-03 -4.37428530e-04 9.99981470e-01 1.27085664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891652532000002 meters 0.35947870215796224 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99978922e-01 -2.82815224e-03 5.84441856e-03 -5.46696275e-01] [ 2.82674825e-03 9.99995974e-01 2.48473465e-04 -7.29217374e-01] [-5.84509775e-03 -2.31947528e-04 9.99982890e-01 1.23377679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921652532 meters 0.36624597856075597 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99982708e-01 -2.85538267e-03 5.14102718e-03 -5.45394101e-01] [ 2.85314238e-03 9.99995832e-01 4.43049276e-04 -7.29635180e-01] [-5.14227082e-03 -4.28373533e-04 9.99986687e-01 1.30365861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951652532 meters 0.3590168650288986 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99985789e-01 -2.81791289e-03 4.52571502e-03 -5.44691269e-01] [ 2.81455692e-03 9.99995760e-01 7.47731783e-04 -7.30426250e-01] [-4.52780287e-03 -7.34983274e-04 9.99989479e-01 1.43328177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981652532000002 meters 0.3718658073380086 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998785 -0.00259441 0.00419132 -0.54427988] [ 0.00258922 0.99999588 0.00124275 -0.73198623] [-0.00419453 -0.00123189 0.99999044 0.01491724] [ 0. 0. 0. 1. ]] SLAMing on 17.011652532 meters 0.3566948338205366 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.02 [[ 0.99998795 -0.00227231 0.0043522 -0.54517424] [ 0.0022645 0.99999582 0.00179857 -0.73383114] [-0.00435627 -0.0017887 0.99998891 0.01557485] [ 0. 0. 0. 1. ]] SLAMing on 17.041652532 meters 0.3500438626736053 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.02 [[ 0.99998784 -0.00213409 0.00444667 -0.54568457] [ 0.002125 0.99999564 0.00204878 -0.73466575] [-0.00445102 -0.00203931 0.99998801 0.01594742] [ 0. 0. 0. 1. ]] SLAMing on 17.071652532 meters 0.3559806126985116 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.74, Z:0.02 [[ 0.99998864 -0.00188785 0.00437766 -0.54555979] [ 0.00187687 0.99999509 0.00251036 -0.73625788] [-0.00438238 -0.00250212 0.99998727 0.01596445] [ 0. 0. 0. 1. ]] SLAMing on 17.101652532 meters 0.3520759864173086 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 0.99998926 -0.00225652 0.00404751 -0.5446078 ] [ 0.0022486 0.99999555 0.00196036 -0.73441393] [-0.00405191 -0.00195124 0.99998989 0.01589748] [ 0. 0. 0. 1. ]] SLAMing on 17.131652532 meters 0.3471812631007186 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99996567 -0.00693588 0.004534 -0.54471423] [ 0.00695062 0.99997058 -0.00324392 -0.73169758] [-0.00451137 0.00327533 0.99998446 0.01445875] [ 0. 0. 0. 1. ]] SLAMing on 17.161652532 meters 0.34498650386373747 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99996404 -0.00743585 0.00407682 -0.54327217] [ 0.00745183 0.99996456 -0.00391826 -0.72964304] [-0.00404754 0.0039485 0.99998401 0.01406102] [ 0. 0. 0. 1. ]] SLAMing on 17.191652532 meters 0.33924764771132954 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.9999567 -0.008674 0.00337151 -0.54167969] [ 0.0086921 0.99994769 -0.00539143 -0.72613465] [-0.00332457 0.0054205 0.99997978 0.01430471] [ 0. 0. 0. 1. ]] SLAMing on 17.221652532 meters 0.3385635430590005 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99996008 -0.00842761 0.00296871 -0.54118469] [ 0.00844166 0.99995308 -0.0047508 -0.72824577] [-0.00292853 0.00477568 0.99998431 0.01498496] [ 0. 0. 0. 1. ]] SLAMing on 17.251652532 meters 0.336494585175094 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 0.99998233 -0.00575773 0.00147942 -0.53787338] [ 0.00576024 0.99998196 -0.00170235 -0.72602815] [-0.00146959 0.00171085 0.99999746 0.01541289] [ 0. 0. 0. 1. ]] SLAMing on 17.281652532000003 meters 0.3345604529360809 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 0.9999837 -0.00557575 0.00122614 -0.53802263] [ 0.00557728 0.99998366 -0.00125402 -0.72735836] [-0.00121913 0.00126084 0.99999846 0.01654812] [ 0. 0. 0. 1. ]] SLAMing on 17.311652532 meters 0.3370154587573539 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.02 [[ 9.99997414e-01 -2.27352018e-03 -5.38137193e-05 -5.34954468e-01] [ 2.27364700e-03 9.99994322e-01 2.48724896e-03 -7.26441571e-01] [ 4.81586030e-05 -2.48736488e-03 9.99996905e-01 1.68977734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341652532 meters 0.3328956935563965 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.02 [[ 9.99997131e-01 -2.30962456e-03 -6.34589506e-04 -5.33837713e-01] [ 2.31127836e-03 9.99993902e-01 2.61782941e-03 -7.26716449e-01] [ 6.28539433e-04 -2.61928862e-03 9.99996372e-01 1.74778869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371652532000002 meters 0.33414234651486585 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.02 [[ 9.99997446e-01 -2.20027395e-03 -5.16039688e-04 -5.34001193e-01] [ 2.20169410e-03 9.99993746e-01 2.76778811e-03 -7.27290882e-01] [ 5.09946569e-04 -2.76891721e-03 9.99996037e-01 1.72405273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401652532 meters 0.33994408621322 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.02 [[ 9.99997164e-01 -2.30875671e-03 -5.83925797e-04 -5.33898915e-01] [ 2.31026988e-03 9.99993941e-01 2.60410431e-03 -7.26724016e-01] [ 5.77910015e-04 -2.60544595e-03 9.99996439e-01 1.73978741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431652532 meters 0.34116007688393074 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.02 [[ 9.99996185e-01 -2.60270459e-03 -9.24655363e-04 -5.33059533e-01] [ 2.60472838e-03 9.99994200e-01 2.19428236e-03 -7.25312432e-01] [ 9.18938932e-04 -2.19668247e-03 9.99997165e-01 1.75356080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461652532000002 meters 0.3390945195619395 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.02 [[ 0.99999421 -0.00312902 -0.00133423 -0.53139543] [ 0.00313087 0.99999414 0.00138314 -0.72280197] [ 0.0013299 -0.00138731 0.99999815 0.01675519] [ 0. 0. 0. 1. ]] SLAMing on 17.491652532 meters 0.3426423153669118 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.02 [[ 0.99999413 -0.00319146 -0.00124347 -0.53108945] [ 0.00319298 0.99999416 0.0012198 -0.72239843] [ 0.00123957 -0.00122377 0.99999848 0.01598155] [ 0. 0. 0. 1. ]] SLAMing on 17.521652532 meters 0.3328439911688877 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.02 [[ 9.99994646e-01 -3.16517441e-03 -8.31004346e-04 -5.31735241e-01] [ 3.16609289e-03 9.99994376e-01 1.10628404e-03 -7.22176324e-01] [ 8.27498091e-04 -1.10890915e-03 9.99999043e-01 1.53785670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551652532000002 meters 0.35374492987840106 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.01 [[ 9.99994775e-01 -3.21981475e-03 -2.89075334e-04 -5.32700268e-01] [ 3.22006050e-03 9.99994451e-01 8.53739782e-04 -7.21502608e-01] [ 2.86324846e-04 -8.54666161e-04 9.99999594e-01 1.47845649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581652532 meters 0.3456430760233788 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.01 [[ 9.99994792e-01 -3.22377034e-03 1.53123949e-04 -5.33527303e-01] [ 3.22366249e-03 9.99994559e-01 6.99478801e-04 -7.21108877e-01] [-1.55378075e-04 -6.98981538e-04 9.99999744e-01 1.43517272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611652532 meters 0.34790789086295343 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:0.01 [[ 9.99995127e-01 -3.09690257e-03 3.93310011e-04 -5.34238771e-01] [ 3.09655991e-03 9.99994828e-01 8.68861286e-04 -7.21730523e-01] [-3.95998756e-04 -8.67639144e-04 9.99999545e-01 1.44694581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641652532000002 meters 0.3383590360944515 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.02 [[ 9.99996345e-01 -2.61011932e-03 7.04736828e-04 -5.35617521e-01] [ 2.60896801e-03 9.99995269e-01 1.62968486e-03 -7.24188269e-01] [-7.08987165e-04 -1.62784027e-03 9.99998424e-01 1.52585869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671652532 meters 0.3340897396550055 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 9.99997176e-01 -2.28831421e-03 6.42009465e-04 -5.35788653e-01] [ 2.28688640e-03 9.99994930e-01 2.21594941e-03 -7.26136359e-01] [-6.47076998e-04 -2.21447495e-03 9.99997339e-01 1.56911876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701652532 meters 0.3339357218848884 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 9.99997732e-01 -2.06664359e-03 5.14886145e-04 -5.36312936e-01] [ 2.06523810e-03 9.99994181e-01 2.71543663e-03 -7.27659861e-01] [-5.20494989e-04 -2.71436711e-03 9.99996181e-01 1.68833459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731652532000002 meters 0.33400851739901055 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 9.99997681e-01 -2.09557083e-03 4.95615411e-04 -5.36065226e-01] [ 2.09424439e-03 9.99994264e-01 2.66190530e-03 -7.27516931e-01] [-5.01190780e-04 -2.66086119e-03 9.99996334e-01 1.66088271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761652532 meters 0.3357518717691307 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.02 [[ 9.99997856e-01 -1.94751230e-03 7.03374724e-04 -5.35967323e-01] [ 1.94553983e-03 9.99994204e-01 2.79417297e-03 -7.28123095e-01] [-7.08812334e-04 -2.79279853e-03 9.99995849e-01 1.56338339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791652532 meters 0.3368983485918286 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999763 -0.0018977 0.00106292 -0.53622752] [ 0.00189483 0.99999456 0.00270108 -0.72797752] [-0.00106804 -0.00269906 0.99999579 0.01465043] [ 0. 0. 0. 1. ]] SLAMing on 17.821652532 meters 0.34960099941848966 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999676 0.00178126 0.00181972 -0.53674818] [-0.00179154 0.99998237 0.0056607 -0.7239256 ] [-0.00180961 -0.00566394 0.99998232 0.01282395] [ 0. 0. 0. 1. ]] SLAMing on 17.851652532 meters 0.34694663464627506 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999527 0.00199567 0.00233971 -0.53808537] [-0.00200952 0.99998038 0.00593361 -0.72493226] [-0.00232782 -0.00593829 0.99997966 0.01280789] [ 0. 0. 0. 1. ]] SLAMing on 17.881652532 meters 0.3406952024021253 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999512 0.00195681 0.00243712 -0.53887898] [-0.00197113 0.99998072 0.00588929 -0.72474164] [-0.00242555 -0.00589406 0.99997969 0.0136593 ] [ 0. 0. 0. 1. ]] SLAMing on 17.911652532 meters 0.3407589532113947 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999533 0.00219695 0.00212441 -0.53788922] [-0.00221043 0.99997731 0.00636317 -0.72637629] [-0.00211039 -0.00636784 0.9999775 0.01333436] [ 0. 0. 0. 1. ]] SLAMing on 17.941652532 meters 0.3436726926444857 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999618 0.00165243 0.00221665 -0.53755077] [-0.00166444 0.99998387 0.0054303 -0.72342193] [-0.00220764 -0.00543397 0.9999828 0.01262468] [ 0. 0. 0. 1. ]] SLAMing on 17.971652532 meters 0.3394523979760559 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.9999959 0.00142022 0.00248491 -0.53749494] [-0.00143251 0.99998672 0.00495011 -0.72199705] [-0.00247785 -0.00495365 0.99998466 0.01161766] [ 0. 0. 0. 1. ]] SLAMing on 18.001652532 meters 0.3407102896951797 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999598 0.00154049 0.0023799 -0.53692657] [-0.00155275 0.99998549 0.00515895 -0.72276433] [-0.00237192 -0.00516263 0.99998386 0.01114745] [ 0. 0. 0. 1. ]] SLAMing on 18.031652532 meters 0.337246842471338 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999726 0.00136075 0.00190221 -0.53618659] [-0.00137033 0.99998635 0.00504157 -0.72227705] [-0.00189532 -0.00504416 0.99998548 0.01195469] [ 0. 0. 0. 1. ]] SLAMing on 18.061652532 meters 0.3403821296292804 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999672 0.00179415 0.00182539 -0.53669932] [-0.00180472 0.9999815 0.00580896 -0.72469299] [-0.00181494 -0.00581224 0.99998146 0.01291254] [ 0. 0. 0. 1. ]] SLAMing on 18.091652532 meters 0.34890292494959546 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.9999949 0.00213217 0.00237923 -0.53848672] [-0.0021471 0.99997791 0.00629055 -0.7263199 ] [-0.00236576 -0.00629562 0.99997738 0.01343874] [ 0. 0. 0. 1. ]] SLAMing on 18.121652532000002 meters 0.35168082966688735 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999393 0.00210657 0.00277577 -0.53872198] [-0.00212339 0.9999793 0.00607403 -0.72585978] [-0.00276292 -0.00607988 0.9999777 0.01229213] [ 0. 0. 0. 1. ]] SLAMing on 18.151652532 meters 0.35168082966688735 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999393 0.00210657 0.00277577 -0.53872198] [-0.00212339 0.9999793 0.00607403 -0.72585978] [-0.00276292 -0.00607988 0.9999777 0.01229213] [ 0. 0. 0. 1. ]] SLAMing on 18.181652532 meters 0.33970980664885125 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.999993 0.00177957 0.00329196 -0.53918208] [-0.00179722 0.999984 0.00536379 -0.72373596] [-0.00328237 -0.00536967 0.9999802 0.01115074] [ 0. 0. 0. 1. ]] SLAMing on 18.211652532000002 meters 0.34667840663838506 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.99999227 0.00158865 0.00359637 -0.53962706] [-0.00160644 0.99998646 0.00494892 -0.72242659] [-0.00358846 -0.00495466 0.99998129 0.01072696] [ 0. 0. 0. 1. ]] SLAMing on 18.241652532 meters 0.34033005980920583 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.72, Z:0.01 [[ 0.9999916 0.00196058 0.00359886 -0.53998403] [-0.0019807 0.99998239 0.0055944 -0.72456731] [-0.00358783 -0.00560148 0.99997788 0.01114998] [ 0. 0. 0. 1. ]] SLAMing on 18.271652532 meters 0.33928735404656807 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999198 0.00210507 0.00340671 -0.53978171] [-0.00212522 0.9999802 0.00592288 -0.72559205] [-0.00339417 -0.00593008 0.99997666 0.01155221] [ 0. 0. 0. 1. ]] SLAMing on 18.301652532000002 meters 0.33960362737013966 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999273 0.00212472 0.00316638 -0.53945659] [-0.00214384 0.99997941 0.00604865 -0.72592534] [-0.00315346 -0.00605539 0.99997669 0.01200527] [ 0. 0. 0. 1. ]] SLAMing on 18.331652532 meters 0.3408984574925647 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999348 0.00246456 0.00263954 -0.53849408] [-0.0024825 0.9999737 0.00681425 -0.72843122] [-0.00262267 -0.00682076 0.9999733 0.01250151] [ 0. 0. 0. 1. ]] SLAMing on 18.361652532 meters 0.3473872431359953 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999255 0.00271295 0.00274734 -0.53898639] [-0.00273272 0.99997022 0.00721783 -0.72979625] [-0.00272767 -0.00722528 0.99997018 0.01277058] [ 0. 0. 0. 1. ]] SLAMing on 18.391652532000002 meters 0.3397939804427413 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999095 0.00289304 0.00311796 -0.5396904 ] [-0.00291619 0.99996803 0.00744485 -0.73069352] [-0.00309633 -0.00745387 0.99996743 0.01236723] [ 0. 0. 0. 1. ]] SLAMing on 18.421652532 meters 0.3450512948079255 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999053 0.00271189 0.00340278 -0.54035359] [-0.00273594 0.99997117 0.00708379 -0.72951601] [-0.00338348 -0.00709303 0.99996912 0.01233138] [ 0. 0. 0. 1. ]] SLAMing on 18.451652532 meters 0.33808802302961016 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998974 -0.00142208 0.004301 -0.54190949] [ 0.00141125 0.99999583 0.00251918 -0.72884834] [-0.00430456 -0.00251308 0.99998758 0.01120133] [ 0. 0. 0. 1. ]] SLAMing on 18.481652532000002 meters 0.352832472507057 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999016 -0.00168172 0.00410552 -0.54087458] [ 0.00167317 0.99999643 0.00208537 -0.72746556] [-0.00410901 -0.00207848 0.9999894 0.01046658] [ 0. 0. 0. 1. ]] SLAMing on 18.511652532 meters 0.33808278088209437 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.9999903 -0.00186644 0.00398856 -0.54050319] [ 0.00185927 0.99999665 0.00180052 -0.72647319] [-0.00399191 -0.00179308 0.99999042 0.01039265] [ 0. 0. 0. 1. ]] SLAMing on 18.541652532 meters 0.33539850071231025 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998962 -0.0018544 0.00416186 -0.54111695] [ 0.00184694 0.99999668 0.00179674 -0.7264606 ] [-0.00416517 -0.00178903 0.99998973 0.01065001] [ 0. 0. 0. 1. ]] SLAMing on 18.571652532 meters 0.3442787144753238 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99999039 0.00241171 0.00366057 -0.53949184] [-0.00243449 0.99997762 0.00623106 -0.72687613] [-0.00364546 -0.00623991 0.99997389 0.01019208] [ 0. 0. 0. 1. ]] SLAMing on 18.601652532 meters 0.3386564031612357 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998797 -0.00184358 0.00454632 -0.54171531] [ 0.00183539 0.99999669 0.00180522 -0.72666227] [-0.00454963 -0.00179685 0.99998804 0.01014252] [ 0. 0. 0. 1. ]] SLAMing on 18.631652532 meters 0.340138272998966 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998764 -0.00189421 0.00459774 -0.54154739] [ 0.00188643 0.99999678 0.00169693 -0.72634614] [-0.00460094 -0.00168824 0.99998799 0.00970598] [ 0. 0. 0. 1. ]] SLAMing on 18.661652532 meters 0.33717700314400884 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998683 -0.00167149 0.00485339 -0.54182963] [ 0.00166182 0.99999663 0.00199658 -0.72745973] [-0.00485671 -0.00198849 0.99998623 0.00910442] [ 0. 0. 0. 1. ]] SLAMing on 18.691652532 meters 0.34473790345025324 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998482 -0.00168343 0.0052468 -0.54252617] [ 0.00167372 0.99999688 0.00185557 -0.72708191] [-0.00524991 -0.00184676 0.99998451 0.00864768] [ 0. 0. 0. 1. ]] SLAMing on 18.721652532 meters 0.3410960265781773 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998509 -0.00165187 0.0052042 -0.54231607] [ 0.00164203 0.99999686 0.00189531 -0.72722626] [-0.00520731 -0.00188674 0.99998466 0.00848708] [ 0. 0. 0. 1. ]] SLAMing on 18.751652532 meters 0.33918119455135814 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99998424 -0.00144675 0.00542408 -0.54306275] [ 0.00143482 0.99999655 0.00220237 -0.72825081] [-0.00542725 -0.00219455 0.99998286 0.00871882] [ 0. 0. 0. 1. ]] SLAMing on 18.781652532 meters 0.34874493649763116 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99981179e-01 -9.45193901e-04 6.06198409e-03 -5.44652268e-01] [ 9.28023816e-04 9.99995552e-01 2.83460772e-03 -7.30375747e-01] [-6.06463638e-03 -2.82892871e-03 9.99977608e-01 8.60486457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811652532 meters 0.344167641877426 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99973356e-01 -2.69008358e-04 7.29484976e-03 -5.47554722e-01] [ 2.44942604e-04 9.99994526e-01 3.29969886e-03 -7.31809071e-01] [-7.29569748e-03 -3.29782412e-03 9.99967948e-01 8.19283298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841652532 meters 0.35466994754457687 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99995414 0.00364243 0.00885757 -0.55044705] [-0.00369905 0.99997278 0.00638403 -0.72815758] [-0.00883407 -0.0064165 0.99994039 0.00679731] [ 0. 0. 0. 1. ]] SLAMing on 18.871652532000002 meters 0.3601964733357688 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 0.99994052 0.0043605 0.00999739 -0.55291876] [-0.00443119 0.99996527 0.0070591 -0.7303519 ] [-0.00996626 -0.00710298 0.99992511 0.00610569] [ 0. 0. 0. 1. ]] SLAMing on 18.901652532 meters 0.36177530975868233 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99992765 0.00476064 0.01104667 -0.55515482] [-0.00484267 0.99996081 0.00741122 -0.73174174] [-0.01101095 -0.00746418 0.99991152 0.00540842] [ 0. 0. 0. 1. ]] SLAMing on 18.931652532 meters 0.36341635992443583 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99992007 0.0048949 0.01165722 -0.55647787] [-0.00498255 0.99995945 0.00750127 -0.73217232] [-0.01162003 -0.00755875 0.99990392 0.0050374 ] [ 0. 0. 0. 1. ]] SLAMing on 18.961652532000002 meters 0.3626729032295384 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.00 [[ 0.99991945 0.00484831 0.01172975 -0.55625409] [-0.00493516 0.99996054 0.0073869 -0.7318697 ] [-0.01169347 -0.0074442 0.99990392 0.00446191] [ 0. 0. 0. 1. ]] SLAMing on 18.991652532 meters 0.36379464594289795 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.00 [[ 0.99991734 0.00494063 0.01187035 -0.55639428] [-0.00502985 0.99995924 0.00749823 -0.73234429] [-0.01183282 -0.00755731 0.99990143 0.00413317] [ 0. 0. 0. 1. ]] SLAMing on 19.021652532 meters 0.3648401752904183 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.00 [[ 0.99991258 0.00512573 0.01218869 -0.55716262] [-0.00522029 0.99995643 0.0077389 -0.73322024] [-0.0121485 -0.00780185 0.99989577 0.00404381] [ 0. 0. 0. 1. ]] SLAMing on 19.051652532000002 meters 0.3773966947985074 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.00 [[ 0.99990006 0.00546927 0.0130368 -0.55917111] [-0.0055749 0.99995182 0.00807938 -0.73441249] [-0.01299198 -0.00815125 0.99988238 0.00382805] [ 0. 0. 0. 1. ]] SLAMing on 19.081652532 meters 0.36702089739763477 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.00 [[ 0.99990365 0.00536829 0.01280164 -0.55888791] [-0.00547191 0.99995244 0.00807345 -0.73429954] [-0.01275769 -0.00814273 0.99988546 0.0043873 ] [ 0. 0. 0. 1. ]] SLAMing on 19.111652532 meters 0.35945202590513214 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.73, Z:0.01 [[ 0.99991676 0.00117401 0.01284887 -0.55977302] [-0.00122491 0.99999143 0.00395404 -0.734899 ] [-0.01284412 -0.00396945 0.99990963 0.00546802] [ 0. 0. 0. 1. ]] SLAMing on 19.141652532000002 meters 0.35682250087542333 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.74, Z:0.00 [[ 9.99935204e-01 3.20888775e-04 1.13790973e-02 -5.55569766e-01] [-3.62616261e-04 9.99993218e-01 3.66515600e-03 -7.35042874e-01] [-1.13778440e-02 -3.66904476e-03 9.99928539e-01 4.89799310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171652532 meters 0.3561892925722487 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 9.99940313e-01 1.04797385e-04 1.09251777e-02 -5.54289674e-01] [-1.41906265e-04 9.99994224e-01 3.39591865e-03 -7.34100679e-01] [-1.09247587e-02 -3.39726631e-03 9.99934552e-01 4.73952601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201652532 meters 0.34945666477324416 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.00 [[ 9.99943122e-01 -1.29962882e-04 1.06646732e-02 -5.53634625e-01] [ 9.72129153e-05 9.99995279e-01 3.07134419e-03 -7.32977432e-01] [-1.06650220e-02 -3.07013275e-03 9.99938414e-01 4.76005432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231652532000002 meters 0.35223919140728344 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99945924e-01 -2.23002230e-04 1.03971233e-02 -5.53163693e-01] [ 1.91915916e-04 9.99995509e-01 2.99079755e-03 -7.32632254e-01] [-1.03977435e-02 -2.98864044e-03 9.99941476e-01 5.10992704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261652532 meters 0.34994390146770876 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99952098e-01 2.09479098e-05 9.78781414e-03 -5.52757763e-01] [-5.74222196e-05 9.99993056e-01 3.72623592e-03 -7.34668533e-01] [-9.78766811e-03 -3.72661946e-03 9.99945155e-01 6.73238672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291652532 meters 0.3487324901340701 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99956772e-01 -1.09865369e-04 9.29742081e-03 -5.51683132e-01] [ 7.57211973e-05 9.99993253e-01 3.67270714e-03 -7.34414767e-01] [-9.29776158e-03 -3.67184436e-03 9.99950033e-01 7.04868615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321652532 meters 0.3444702541379426 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99963892e-01 -4.72709431e-04 8.48478686e-03 -5.49702781e-01] [ 4.43322317e-04 9.99993898e-01 3.46505314e-03 -7.33728129e-01] [-8.48637305e-03 -3.46116653e-03 9.99958000e-01 7.21354884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351652532 meters 0.34010091522182345 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99970131e-01 -8.33182986e-04 7.68397255e-03 -5.47985685e-01] [ 8.08310889e-04 9.99994426e-01 3.23941781e-03 -7.32984112e-01] [-7.68662875e-03 -3.23311002e-03 9.99965231e-01 7.74761466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381652532 meters 0.3334951103299824 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.73, Z:0.01 [[ 9.99960763e-01 -5.26322569e-03 7.12530722e-03 -5.46839191e-01] [ 5.27047752e-03 9.99985612e-01 -9.99362872e-04 -7.33190510e-01] [-7.11994483e-03 1.03687743e-03 9.99974115e-01 8.27689412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411652532 meters 0.33158724439055187 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99996485 -0.00560469 0.00623587 -0.54496615] [ 0.00561229 0.99998353 -0.0012018 -0.73243303] [-0.00622903 0.00123675 0.99997983 0.00889038] [ 0. 0. 0. 1. ]] SLAMing on 19.441652532 meters 0.3319611341860479 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 0.99996797 -0.00590238 0.00540524 -0.54330499] [ 0.00590965 0.99998165 -0.00133007 -0.73192905] [-0.00539729 0.00136197 0.99998451 0.00958401] [ 0. 0. 0. 1. ]] SLAMing on 19.471652532 meters 0.3287436190468771 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99974971e-01 -5.83390943e-03 4.00290479e-03 -5.40779358e-01] [ 5.83611449e-03 9.99982824e-01 -5.39406101e-04 -7.34071966e-01] [-3.99968919e-03 5.62754011e-04 9.99991843e-01 1.10473160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501652532 meters 0.3253580369931658 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99976404e-01 -5.84573609e-03 3.60806783e-03 -5.40109889e-01] [ 5.84740676e-03 9.99982801e-01 -4.52661763e-04 -7.34229078e-01] [-3.60535963e-03 4.73748922e-04 9.99993388e-01 1.15587597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531652532 meters 0.3466206445229612 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99977004e-01 -5.82631940e-03 3.47066172e-03 -5.39768333e-01] [ 5.82769397e-03 9.99982944e-01 -3.86072816e-04 -7.34420536e-01] [-3.46835314e-03 4.06289892e-04 9.99993903e-01 1.15499884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561652532 meters 0.3278291029967474 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99976084e-01 -5.90113566e-03 3.60659470e-03 -5.39851159e-01] [ 5.90313288e-03 9.99982429e-01 -5.43376243e-04 -7.33953164e-01] [-3.60332479e-03 5.64653455e-04 9.99993349e-01 1.11629333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591652532 meters 0.3378266973666941 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.73, Z:0.01 [[ 9.99976335e-01 -5.88500097e-03 3.56325007e-03 -5.39629524e-01] [ 5.88686351e-03 9.99982541e-01 -5.12444912e-04 -7.34068598e-01] [-3.56017212e-03 5.33409152e-04 9.99993520e-01 1.09837979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621652532000002 meters 0.32848291200636 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.74, Z:0.01 [[ 9.99979199e-01 -5.65299608e-03 3.10569127e-03 -5.38660485e-01] [ 5.65305219e-03 9.99984021e-01 -9.28852928e-06 -7.35663637e-01] [-3.10558913e-03 2.68449709e-05 9.99995177e-01 1.12219749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651652532 meters 0.3237467214958245 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.74, Z:0.01 [[ 9.99979286e-01 -6.11575580e-03 2.00637515e-03 -5.36226049e-01] [ 6.11617311e-03 9.99981276e-01 -2.01918938e-04 -7.35046265e-01] [-2.00510269e-03 2.14186093e-04 9.99997967e-01 1.17822202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681652532 meters 0.3316629180294616 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.01 [[ 9.99979318e-01 -6.34010442e-03 1.08039102e-03 -5.34260237e-01] [ 6.34037830e-03 9.99979868e-01 -2.50258737e-04 -7.34830475e-01] [-1.07878260e-03 2.57103648e-04 9.99999385e-01 1.23846653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711652532000002 meters 0.32151079390666276 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.01 [[ 9.99975963e-01 -6.93260776e-03 -1.09936008e-04 -5.31502136e-01] [ 6.93255300e-03 9.99975849e-01 -4.90934497e-04 -7.34264024e-01] [ 1.13336810e-04 4.90160559e-04 9.99999873e-01 1.28132506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741652532 meters 0.3215470883849464 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.73, Z:0.01 [[ 9.99975601e-01 -6.97131205e-03 -4.45643651e-04 -5.30871947e-01] [ 6.97110703e-03 9.99975596e-01 -4.59949881e-04 -7.34284303e-01] [ 4.48839229e-04 4.56832029e-04 9.99999795e-01 1.31554225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771652532 meters 0.3235169304334823 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.01 [[ 9.99976739e-01 -6.78291701e-03 -7.16084566e-04 -5.30268693e-01] [ 6.78286036e-03 9.99976993e-01 -8.15117112e-05 -7.35512315e-01] [ 7.16620978e-04 7.66527136e-05 9.99999740e-01 1.32539576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801652532000002 meters 0.32000919746131157 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.01 [[ 9.99977526e-01 -6.53279164e-03 -1.50679795e-03 -5.29419892e-01] [ 6.53392092e-03 9.99978376e-01 7.45757177e-04 -7.37712489e-01] [ 1.50189349e-03 -7.55585716e-04 9.99998587e-01 1.49306601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831652532 meters 0.31260606238886923 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.02 [[ 9.99977637e-01 -6.44265118e-03 -1.79385618e-03 -5.29302504e-01] [ 6.44444742e-03 9.99978737e-01 9.97352923e-04 -7.38344370e-01] [ 1.78739244e-03 -1.00889103e-03 9.99997894e-01 1.58591629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861652532 meters 0.31942447410985847 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.02 [[ 0.99997832 -0.00625934 -0.00204494 -0.52893194] [ 0.00626215 0.99997945 0.00137254 -0.73950885] [ 0.0020363 -0.00138532 0.99999697 0.01624466] [ 0. 0. 0. 1. ]] SLAMing on 19.891652532000002 meters 0.30855983278890775 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.02 [[ 0.9999777 -0.00616812 -0.00256119 -0.52800088] [ 0.00617256 0.99997946 0.00172753 -0.74051953] [ 0.00255048 -0.0017433 0.99999523 0.01683755] [ 0. 0. 0. 1. ]] SLAMing on 19.921652532 meters 0.2984363639312566 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.02 [[ 0.99993526 -0.01097446 -0.00300673 -0.52661614] [ 0.01096527 0.99993521 -0.00305511 -0.73933177] [ 0.00304006 0.00302194 0.99999081 0.01680406] [ 0. 0. 0. 1. ]] SLAMing on 19.951652532 meters 0.32058919499791666 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99992905 -0.01116524 -0.00415163 -0.52406287] [ 0.0111531 0.99993349 -0.00293517 -0.73973129] [ 0.00418412 0.00288866 0.99998707 0.0172942 ] [ 0. 0. 0. 1. ]] SLAMing on 19.981652532000002 meters 0.2996831655530646 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.9999204 -0.01139526 -0.00541677 -0.52144953] [ 0.0113802 0.99993131 -0.00280331 -0.74013455] [ 0.00544834 0.00274144 0.9999814 0.01819519] [ 0. 0. 0. 1. ]] SLAMing on 20.011652532 meters 0.30138112336525935 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99991713 -0.01120535 -0.006339 -0.51969603] [ 0.01119201 0.99993508 -0.00213673 -0.7420677 ] [ 0.00636253 0.00206561 0.99997763 0.01905848] [ 0. 0. 0. 1. ]] SLAMing on 20.041652532 meters 0.28995560485316263 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99991523 -0.01099795 -0.00696912 -0.51911428] [ 0.01098756 0.99993847 -0.00152709 -0.74370545] [ 0.00698548 0.00145038 0.99997455 0.02051131] [ 0. 0. 0. 1. ]] SLAMing on 20.071652532 meters 0.2905693581251629 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99994081 -0.00761982 -0.00776613 -0.51660006] [ 0.00763367 0.99996932 0.00175569 -0.74126234] [ 0.00775251 -0.00181487 0.9999683 0.01982234] [ 0. 0. 0. 1. ]] SLAMing on 20.101652532 meters 0.2905693581251629 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99994081 -0.00761982 -0.00776613 -0.51660006] [ 0.00763367 0.99996932 0.00175569 -0.74126234] [ 0.00775251 -0.00181487 0.9999683 0.01982234] [ 0. 0. 0. 1. ]] SLAMing on 20.131652532 meters 0.2883362850986432 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 9.99932472e-01 -8.50855471e-03 -7.91558323e-03 -5.15906369e-01] [ 8.51238619e-03 9.99963668e-01 4.50476513e-04 -7.37588023e-01] [ 7.91146274e-03 -5.17826594e-04 9.99968570e-01 1.93955351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161652532 meters 0.2853470899356888 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 9.99925733e-01 -8.99291393e-03 -8.22533620e-03 -5.14603253e-01] [ 8.99119471e-03 9.99959548e-01 -2.45970887e-04 -7.35586609e-01] [ 8.22721546e-03 1.71997020e-04 9.99966141e-01 1.87254587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191652532 meters 0.28267850778779247 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 9.99902634e-01 -1.00253295e-02 -9.70643661e-03 -5.10747015e-01] [ 1.00178323e-02 9.99949483e-01 -8.20712253e-04 -7.35029105e-01] [ 9.71417418e-03 7.23394890e-04 9.99952555e-01 1.85240835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221652532 meters 0.28010385846950875 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.73, Z:0.02 [[ 9.99883701e-01 -1.05505058e-02 -1.10122877e-02 -5.08240926e-01] [ 1.05414494e-02 9.99944050e-01 -8.80112236e-04 -7.34906758e-01] [ 1.10209572e-02 7.63924407e-04 9.99938976e-01 1.98925322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251652532 meters 0.27666427930300797 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 9.99875907e-01 -1.02499502e-02 -1.19627985e-02 -5.06895809e-01] [ 1.02516602e-02 9.99947447e-01 8.16291036e-05 -7.37571218e-01] [ 1.19613331e-02 -2.04257519e-04 9.99928440e-01 2.14842584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281652532 meters 0.27690706991786324 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 9.99873565e-01 -9.95283019e-03 -1.24014292e-02 -5.06695070e-01] [ 9.96282341e-03 9.99950093e-01 7.44292299e-04 -7.39382788e-01] [ 1.23934025e-02 -8.67751444e-04 9.99922822e-01 2.28085056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311652532 meters 0.2761681781160121 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99988398 -0.00961009 -0.01181872 -0.50794455] [ 0.00962434 0.99995302 0.00114924 -0.74074098] [ 0.01180712 -0.00126285 0.9999295 0.02243014] [ 0. 0. 0. 1. ]] SLAMing on 20.341652532 meters 0.27999291366306805 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 9.99891055e-01 -9.62714838e-03 -1.11891018e-02 -5.08960916e-01] [ 9.63747275e-03 9.99953181e-01 8.69163291e-04 -7.40098103e-01] [ 1.11802104e-02 -9.76903264e-04 9.99937022e-01 2.15388954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371652532000002 meters 0.2815459596527329 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99991974 -0.0055471 -0.0113901 -0.50791941] [ 0.00560158 0.999973 0.00475684 -0.7389121 ] [ 0.0113634 -0.00482026 0.99992382 0.02076713] [ 0. 0. 0. 1. ]] SLAMing on 20.401652532 meters 0.28552128853840764 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.999931 -0.00518016 -0.01054301 -0.51009776] [ 0.00523364 0.99997355 0.00505084 -0.73980166] [ 0.01051657 -0.00510567 0.99993166 0.02077534] [ 0. 0. 0. 1. ]] SLAMing on 20.431652532 meters 0.2841568788224661 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99993535 -0.00419532 -0.01056885 -0.5114616 ] [ 0.00426545 0.99996898 0.00662115 -0.74418539] [ 0.01054075 -0.0066658 0.99992223 0.02277662] [ 0. 0. 0. 1. ]] SLAMing on 20.461652532000002 meters 0.2918256618175495 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99992642 -0.00432636 -0.01133285 -0.50952973] [ 0.00440218 0.99996804 0.00667351 -0.74438398] [ 0.01130361 -0.00672291 0.99991351 0.02285699] [ 0. 0. 0. 1. ]] SLAMing on 20.491652532 meters 0.2822036497623288 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.9999208 -0.00484933 -0.01161372 -0.50805267] [ 0.00491844 0.99997032 0.0059304 -0.74243482] [ 0.01158462 -0.00598705 0.99991497 0.02184859] [ 0. 0. 0. 1. ]] SLAMing on 20.521652532 meters 0.2820758199008022 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99991345 -0.00751959 -0.0107956 -0.50609443] [ 0.00754351 0.99996918 0.0021768 -0.73631224] [ 0.0107789 -0.00225805 0.99993936 0.01714177] [ 0. 0. 0. 1. ]] SLAMing on 20.551652532000002 meters 0.2850624579267282 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99991051 -0.00775817 -0.01089888 -0.50577474] [ 0.00777856 0.99996807 0.00182936 -0.73519761] [ 0.01088434 -0.00191397 0.99993893 0.0171163 ] [ 0. 0. 0. 1. ]] SLAMing on 20.581652532 meters 0.2817630896648695 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99991697 -0.00742605 -0.01053131 -0.50683675] [ 0.00745021 0.9999697 0.00225682 -0.7365677 ] [ 0.01051423 -0.00233509 0.999942 0.01724853] [ 0. 0. 0. 1. ]] SLAMing on 20.611652532 meters 0.2822120913206712 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99992282 -0.00715103 -0.01015978 -0.50816159] [ 0.007178 0.99997081 0.00262002 -0.73763047] [ 0.01014075 -0.00269274 0.99994496 0.01774213] [ 0. 0. 0. 1. ]] SLAMing on 20.641652532000002 meters 0.2848731821537372 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99994621 -0.00277029 -0.00999483 -0.50843478] [ 0.0028396 0.99997198 0.00692692 -0.73761087] [ 0.00997536 -0.00695493 0.99992606 0.01745236] [ 0. 0. 0. 1. ]] SLAMing on 20.671652532 meters 0.2965122658715535 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.99995327 -0.0028821 -0.00922765 -0.50999961] [ 0.002942 0.99997465 0.0064843 -0.73636878] [ 0.00920873 -0.00651114 0.9999364 0.01688582] [ 0. 0. 0. 1. ]] SLAMing on 20.701652532 meters 0.28942487337633055 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.74, Z:0.02 [[ 0.9999633 -0.0024639 -0.00820479 -0.51242172] [ 0.00251844 0.99997476 0.00664413 -0.73683001] [ 0.00818821 -0.00666455 0.99994427 0.01653794] [ 0. 0. 0. 1. ]] SLAMing on 20.731652532000002 meters 0.29023683619237733 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99997226 -0.00245344 -0.00703276 -0.51500562] [ 0.00249722 0.99997752 0.00622354 -0.73556159] [ 0.00701733 -0.00624093 0.9999559 0.01590015] [ 0. 0. 0. 1. ]] SLAMing on 20.761652532 meters 0.29683082850149783 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.73, Z:0.02 [[ 0.99997145 -0.00266277 -0.00707175 -0.51483969] [ 0.00270446 0.99997898 0.00589349 -0.73451631] [ 0.00705591 -0.00591244 0.99995763 0.01585875] [ 0. 0. 0. 1. ]] SLAMing on 20.791652532 meters 0.2931334582887303 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.02 [[ 0.99997597 -0.00215443 -0.0065894 -0.51585344] [ 0.0021977 0.99997603 0.006566 -0.73671682] [ 0.0065751 -0.00658033 0.99995673 0.01550802] [ 0. 0. 0. 1. ]] SLAMing on 20.821652532 meters 0.29847881645881263 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.01 [[ 0.9999839 0.00257403 -0.00505693 -0.51929191] [-0.00251961 0.99993918 0.01073701 -0.73639726] [ 0.00508426 -0.01072409 0.99992957 0.01484487] [ 0. 0. 0. 1. ]] SLAMing on 20.851652532 meters 0.3053372565666428 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.01 [[ 0.99996613 0.0068628 -0.00454378 -0.51992638] [-0.006795 0.99986778 0.01477338 -0.73569421] [ 0.00464457 -0.014742 0.99988054 0.01394085] [ 0. 0. 0. 1. ]] SLAMing on 20.881652532 meters 0.32046332464161736 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.74, Z:0.01 [[ 0.99996533 0.00787144 -0.00271524 -0.52431267] [-0.00783008 0.99985804 0.01491936 -0.73576193] [ 0.00283229 -0.01489759 0.99988501 0.01340669] [ 0. 0. 0. 1. ]] SLAMing on 20.911652532 meters 0.3203044913389773 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.74, Z:0.01 [[ 0.99993074 0.01171949 -0.00107689 -0.52915214] [-0.01169788 0.99976479 0.01826263 -0.74129052] [ 0.00129067 -0.01824876 0.99983264 0.01406709] [ 0. 0. 0. 1. ]] SLAMing on 20.941652532 meters 0.33084123377087865 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.75, Z:0.01 [[ 0.99973417 0.02260071 0.00456044 -0.54078927] [-0.0227064 0.99943864 0.02463367 -0.74887458] [-0.00400114 -0.02473068 0.99968614 0.00936206] [ 0. 0. 0. 1. ]] SLAMing on 20.971652532 meters 0.33570900575897966 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.75, Z:0.01 [[ 0.9997013 0.02374843 0.00577296 -0.54377402] [-0.02388851 0.99938818 0.02554631 -0.75122877] [-0.00516274 -0.02567659 0.99965697 0.00917285] [ 0. 0. 0. 1. ]] SLAMing on 21.001652532 meters 0.3386029369660553 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.75, Z:0.01 [[ 0.99968943 0.02402573 0.00661808 -0.54544557] [-0.02418865 0.99937574 0.02574936 -0.75211157] [-0.0059953 -0.02590145 0.99964652 0.00845536] [ 0. 0. 0. 1. ]] SLAMing on 21.031652532 meters 0.33997940867418497 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.75, Z:0.01 [[ 0.9997526 0.02077493 0.00794667 -0.54897479] [-0.0209477 0.99953154 0.02231367 -0.7543885 ] [-0.00747939 -0.02247461 0.99971944 0.00852009] [ 0. 0. 0. 1. ]] SLAMing on 21.061652532 meters 0.3449775855681731 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99974548 0.02106854 0.00806774 -0.54850358] [-0.02124712 0.99951583 0.02273015 -0.75599864] [-0.00758495 -0.02289578 0.99970908 0.00732711] [ 0. 0. 0. 1. ]] SLAMing on 21.091652532 meters 0.3468529337516942 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99981213 0.01715682 0.00901965 -0.55079187] [-0.01732352 0.99967428 0.01874089 -0.75722491] [-0.00869518 -0.01889363 0.99978369 0.00681449] [ 0. 0. 0. 1. ]] SLAMing on 21.121652532 meters 0.3452250993155725 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99986803 0.01307475 0.00964232 -0.55263557] [-0.01321458 0.99980634 0.01458303 -0.75780643] [-0.00944978 -0.01470853 0.99984717 0.0069991 ] [ 0. 0. 0. 1. ]] SLAMing on 21.151652532 meters 0.3400453045637049 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99990651 0.0093317 0.00999451 -0.5537718 ] [-0.00944194 0.99989448 0.01103956 -0.76035751] [-0.00989044 -0.0111329 0.99988911 0.0071963 ] [ 0. 0. 0. 1. ]] SLAMing on 21.181652532 meters 0.3405877510564744 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99994575 0.00532037 0.00895439 -0.55174712] [-0.00538856 0.99995653 0.0076091 -0.76309365] [-0.00891352 -0.00765694 0.99993096 0.00792204] [ 0. 0. 0. 1. ]] SLAMing on 21.211652532000002 meters 0.3369602152020211 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.76, Z:0.01 [[ 0.99995962 0.00123398 0.00890113 -0.5518826 ] [-0.0012664 0.99999258 0.00363694 -0.76426333] [-0.00889657 -0.00364806 0.99995377 0.0082505 ] [ 0. 0. 0. 1. ]] SLAMing on 21.241652532 meters 0.3188832581237479 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.77, Z:0.01 [[ 9.99964651e-01 -2.95568480e-03 7.87147577e-03 -5.50107899e-01] [ 2.95606474e-03 9.99995630e-01 -3.66337015e-05 -7.66040232e-01] [-7.87133310e-03 5.99009985e-05 9.99969019e-01 9.45285662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271652532 meters 0.32391280769752867 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.77, Z:0.01 [[ 9.99970820e-01 -2.86297926e-03 7.08253111e-03 -5.48659260e-01] [ 2.86011139e-03 9.99995824e-01 4.15017234e-04 -7.67248005e-01] [-7.08368972e-03 -3.94748296e-04 9.99974832e-01 1.02651114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301652532000002 meters 0.3158942822590138 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.77, Z:0.01 [[ 9.99974925e-01 -2.73796972e-03 6.53089228e-03 -5.47925249e-01] [ 2.73259733e-03 9.99995921e-01 8.31393803e-04 -7.68321190e-01] [-6.53314197e-03 -8.13526657e-04 9.99978328e-01 1.12402481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331652532 meters 0.31207905221376275 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.77, Z:0.01 [[ 0.99997916 -0.0027735 0.00583029 -0.54678138] [ 0.00276676 0.9999955 0.00116251 -0.76912623] [-0.00583349 -0.00114636 0.99998233 0.01222667] [ 0. 0. 0. 1. ]] SLAMing on 21.361652532 meters 0.31257294988720224 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.01 [[ 9.99978953e-01 -4.26166894e-03 4.89192614e-03 -5.44518785e-01] [ 4.26416993e-03 9.99990783e-01 -5.00931310e-04 -7.65294440e-01] [-4.88974625e-03 5.21780771e-04 9.99987909e-01 1.22150990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391652532000002 meters 0.3058964619984426 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 9.99979973e-01 -4.67403674e-03 4.26705958e-03 -5.42377353e-01] [ 4.67826059e-03 9.99988576e-01 -9.80427634e-04 -7.63950336e-01] [-4.26242828e-03 1.00037042e-03 9.99990415e-01 1.13692954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421652532 meters 0.3051972836170479 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 0.99997965 -0.00474126 0.00426901 -0.54254445] [ 0.00474593 0.99998815 -0.001084 -0.76354843] [-0.00426382 0.00110424 0.9999903 0.01161557] [ 0. 0. 0. 1. ]] SLAMing on 21.451652532 meters 0.30555132669931734 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 9.99981492e-01 -4.61066977e-03 3.96950109e-03 -5.42173066e-01] [ 4.61367622e-03 9.99989077e-01 -7.48563319e-04 -7.64503432e-01] [-3.96600635e-03 7.66863457e-04 9.99991841e-01 1.21714334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481652532000002 meters 0.3042359518586623 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 9.99982701e-01 -4.90238007e-03 3.25017023e-03 -5.40646357e-01] [ 4.90548034e-03 9.99987520e-01 -9.46594194e-04 -7.63745538e-01] [-3.24548910e-03 9.62521465e-04 9.99994270e-01 1.26894242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511652532 meters 0.30470950535919766 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 9.99984382e-01 -5.00860576e-03 2.47979231e-03 -5.38924580e-01] [ 5.01074629e-03 9.99987078e-01 -8.57730444e-04 -7.63936346e-01] [-2.47546424e-03 8.70142659e-04 9.99996557e-01 1.30196656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541652532 meters 0.3080774349611246 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.76, Z:0.01 [[ 9.99985576e-01 -5.03404558e-03 1.87252491e-03 -5.38220125e-01] [ 5.03528194e-03 9.99987108e-01 -6.56133546e-04 -7.64195093e-01] [-1.86919777e-03 6.65552772e-04 9.99998032e-01 1.42725977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571652532 meters 0.29961912892821885 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 9.99987120e-01 -4.75506077e-03 1.77469303e-03 -5.38757390e-01] [ 4.75533155e-03 9.99988682e-01 -1.48391372e-04 -7.65580208e-01] [-1.77396734e-03 1.56828714e-04 9.99998414e-01 1.53868036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601652532 meters 0.29837773302410053 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 9.99989331e-01 -4.35307621e-03 1.54582798e-03 -5.38919476e-01] [ 4.35217728e-03 9.99990358e-01 5.84405421e-04 -7.67681773e-01] [-1.54835704e-03 -5.77671469e-04 9.99998634e-01 1.64061451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631652532 meters 0.2990765127097593 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 9.99990180e-01 -4.34139929e-03 8.89489616e-04 -5.38043296e-01] [ 4.34064252e-03 9.99990217e-01 8.50959833e-04 -7.68230903e-01] [-8.93175271e-04 -8.47090521e-04 9.99999242e-01 1.76069346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661652532 meters 0.29072506702467543 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 9.99986690e-01 -5.08874832e-03 -8.51437971e-04 -5.34383649e-01] [ 5.08952003e-03 9.99986637e-01 9.06658503e-04 -7.68558971e-01] [ 8.46812836e-04 -9.10979846e-04 9.99999227e-01 1.87697176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691652532 meters 0.2854530938689979 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 9.99978679e-01 -6.13530124e-03 -2.23578437e-03 -5.31353331e-01] [ 6.13566209e-03 9.99981165e-01 1.54573805e-04 -7.67036106e-01] [ 2.23479390e-03 -1.68288526e-04 9.99997489e-01 1.93865202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721652532 meters 0.2826011884647308 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 9.99975156e-01 -6.35312139e-03 -3.05373640e-03 -5.29374292e-01] [ 6.35329831e-03 9.99979816e-01 4.82373348e-05 -7.66659758e-01] [ 3.05336831e-03 -6.76374347e-05 9.99995336e-01 1.95682499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751652532 meters 0.2807785625063715 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 9.99968194e-01 -6.77796105e-03 -4.20370013e-03 -5.26711885e-01] [ 6.77773452e-03 9.99977029e-01 -6.81317232e-05 -7.66483457e-01] [ 4.20406536e-03 3.96379927e-05 9.99991162e-01 1.99258208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781652532 meters 0.2821169163662887 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 9.99967341e-01 -6.81617492e-03 -4.34231979e-03 -5.26313147e-01] [ 6.81584172e-03 9.99976768e-01 -9.15292440e-05 -7.66410169e-01] [ 4.34284279e-03 6.19296904e-05 9.99990568e-01 1.98723742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811652532 meters 0.2799126791651041 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.76, Z:0.02 [[ 0.99998346 -0.00304789 -0.00487829 -0.52465689] [ 0.00306484 0.99998928 0.00347092 -0.7642562 ] [ 0.00486766 -0.00348581 0.99998208 0.0194603 ] [ 0. 0. 0. 1. ]] SLAMing on 21.841652532 meters 0.28103522457645785 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99998765 -0.00306072 -0.00391476 -0.52703664] [ 0.00307307 0.99999031 0.00315181 -0.76320095] [ 0.00390507 -0.0031638 0.99998737 0.01936725] [ 0. 0. 0. 1. ]] SLAMing on 21.871652532 meters 0.28328243419457494 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99999028 -0.00291308 -0.00330992 -0.52832655] [ 0.00292371 0.99999057 0.00321218 -0.76352297] [ 0.00330053 -0.00322183 0.99998936 0.01898182] [ 0. 0. 0. 1. ]] SLAMing on 21.901652532 meters 0.282096782689132 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99999108 -0.00295509 -0.00301725 -0.52902087] [ 0.00296431 0.99999094 0.00305369 -0.76305095] [ 0.0030082 -0.0030626 0.99999079 0.01892174] [ 0. 0. 0. 1. ]] SLAMing on 21.931652532 meters 0.27933459600333116 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99998805 -0.00329942 -0.00360642 -0.52779882] [ 0.00330914 0.9999909 0.00269141 -0.76187691] [ 0.00359751 -0.00270332 0.99998987 0.01936821] [ 0. 0. 0. 1. ]] SLAMing on 21.961652532000002 meters 0.2796991823587314 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99998867 -0.00333649 -0.00339561 -0.52776396] [ 0.00334508 0.99999121 0.00252726 -0.76157806] [ 0.00338714 -0.00253859 0.99999104 0.01851705] [ 0. 0. 0. 1. ]] SLAMing on 21.991652532 meters 0.2796991823587314 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99998867 -0.00333649 -0.00339561 -0.52776396] [ 0.00334508 0.99999121 0.00252726 -0.76157806] [ 0.00338714 -0.00253859 0.99999104 0.01851705] [ 0. 0. 0. 1. ]] SLAMing on 22.021652532 meters 0.2807102779984855 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99999049 -0.00320632 -0.00295474 -0.52864526] [ 0.00321406 0.99999141 0.00261867 -0.76198997] [ 0.00294632 -0.00262814 0.99999221 0.01813086] [ 0. 0. 0. 1. ]] SLAMing on 22.051652532000002 meters 0.28457044569997286 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.99999212 -0.0031107 -0.00246613 -0.52992149] [ 0.00311719 0.99999167 0.0026331 -0.76205912] [ 0.00245791 -0.00264076 0.99999349 0.01818188] [ 0. 0. 0. 1. ]] SLAMing on 22.081652532 meters 0.28707063796752236 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.76, Z:0.02 [[ 0.9999956 0.0016578 -0.00246103 -0.53061818] [-0.00163884 0.99996912 0.00768634 -0.76418384] [ 0.00247369 -0.00768227 0.99996743 0.01910635] [ 0. 0. 0. 1. ]] SLAMing on 22.111652532 meters 0.28850981357857103 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99999602 0.00229571 -0.00164052 -0.53300669] [-0.00228173 0.99996145 0.008479 -0.76644548] [ 0.00165993 -0.00847522 0.99996271 0.01961576] [ 0. 0. 0. 1. ]] SLAMing on 22.141652532000002 meters 0.29359998304611645 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 9.99995587e-01 2.89666107e-03 -6.59912584e-04 -5.35327473e-01] [-2.89053111e-03 9.99954344e-01 9.10797820e-03 -7.68399481e-01] [ 6.86265181e-04 -9.10603051e-03 9.99958304e-01 1.93686747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171652532 meters 0.29832381806409386 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99998486 0.00536453 0.00122572 -0.53948296] [-0.00537716 0.9999299 0.01054864 -0.77083594] [-0.00116905 -0.01055507 0.99994361 0.01823001] [ 0. 0. 0. 1. ]] SLAMing on 22.201652532 meters 0.30168025296983825 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99998127 0.00568187 0.00227709 -0.54164731] [-0.00570554 0.99992832 0.0105265 -0.77091129] [-0.00221712 -0.0105393 0.999942 0.017434 ] [ 0. 0. 0. 1. ]] SLAMing on 22.231652532000002 meters 0.3068494288436155 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99997819 0.00590844 0.00295045 -0.54303771] [-0.00593959 0.99992552 0.01066159 -0.7715126 ] [-0.00288724 -0.01067889 0.99993881 0.01692675] [ 0. 0. 0. 1. ]] SLAMing on 22.261652532 meters 0.3022155344402954 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99997971 0.00577801 0.00268217 -0.54229896] [-0.00580595 0.99992773 0.01052747 -0.77108026] [-0.00262115 -0.01054283 0.99994099 0.01687366] [ 0. 0. 0. 1. ]] SLAMing on 22.291652532 meters 0.30048141366572145 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99999492 0.00167273 0.00271507 -0.54245865] [-0.00169045 0.99997721 0.0065369 -0.77225518] [-0.00270407 -0.00654145 0.99997495 0.01689597] [ 0. 0. 0. 1. ]] SLAMing on 22.321652532 meters 0.29380324801246316 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 0.99999218 -0.00380459 0.00108231 -0.53818343] [ 0.00380274 0.9999913 0.00171209 -0.77157486] [-0.00108881 -0.00170796 0.99999795 0.01678596] [ 0. 0. 0. 1. ]] SLAMing on 22.351652532 meters 0.28498626664476395 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.77, Z:0.02 [[ 9.99961273e-01 -8.80074358e-03 6.08086743e-07 -5.35853636e-01] [ 8.80070463e-03 9.99956636e-01 -3.04524408e-03 -7.70537737e-01] [ 2.61923519e-05 3.04513150e-03 9.99995363e-01 1.75651581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381652532 meters 0.28178034665155166 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.9999563 -0.00925675 -0.0013086 -0.53285963] [ 0.00925268 0.99995245 -0.00307837 -0.77058428] [ 0.00133704 0.00306613 0.99999441 0.01804581] [ 0. 0. 0. 1. ]] SLAMing on 22.411652532 meters 0.27937503312089446 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99995226 -0.00939972 -0.00267053 -0.53087507] [ 0.00939391 0.9999535 -0.0021786 -0.77280557] [ 0.00269089 0.00215341 0.99999406 0.02029244] [ 0. 0. 0. 1. ]] SLAMing on 22.441652532 meters 0.27609943928706165 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99995268 -0.00919852 -0.00316503 -0.53061535] [ 0.00919344 0.99995643 -0.00161796 -0.77420894] [ 0.00317977 0.00158878 0.99999368 0.02176217] [ 0. 0. 0. 1. ]] SLAMing on 22.471652532 meters 0.27106833335760483 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.78, Z:0.02 [[ 0.99994709 -0.00934218 -0.00430703 -0.52900858] [ 0.00933769 0.99995584 -0.00106088 -0.77547558] [ 0.00431676 0.0010206 0.99999016 0.02375746] [ 0. 0. 0. 1. ]] SLAMing on 22.501652532 meters 0.26709212059257237 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.78, Z:0.03 [[ 0.99992824 -0.01037297 -0.00599327 -0.52579377] [ 0.01036542 0.99994545 -0.0012891 -0.77562627] [ 0.00600631 0.00122688 0.99998121 0.02529055] [ 0. 0. 0. 1. ]] SLAMing on 22.531652532 meters 0.26723923992686743 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.78, Z:0.02 [[ 0.99992626 -0.0104455 -0.00619387 -0.52477733] [ 0.01043729 0.99994461 -0.00135557 -0.77561417] [ 0.00620768 0.00129082 0.9999799 0.02453727] [ 0. 0. 0. 1. ]] SLAMing on 22.561652532 meters 0.2659037549710033 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.77, Z:0.02 [[ 0.99990953 -0.0115106 -0.00695932 -0.52268094] [ 0.01149149 0.9999301 -0.00278071 -0.77199759] [ 0.00699085 0.00270048 0.99997192 0.02408786] [ 0. 0. 0. 1. ]] SLAMing on 22.591652532 meters 0.2671921295308355 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.77, Z:0.02 [[ 0.99990578 -0.01170623 -0.00716953 -0.52208113] [ 0.01168466 0.9999271 -0.00304423 -0.77114436] [ 0.00720465 0.00296017 0.99996966 0.0240469 ] [ 0. 0. 0. 1. ]] SLAMing on 22.621652532 meters 0.26830547522236187 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.77, Z:0.03 [[ 0.99990679 -0.0113272 -0.00762324 -0.52166434] [ 0.01131036 0.99993351 -0.00224809 -0.77346239] [ 0.0076482 0.00216166 0.99996842 0.02503406] [ 0. 0. 0. 1. ]] SLAMing on 22.651652532 meters 0.270689803240413 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.77, Z:0.02 [[ 0.99994544 -0.00702285 -0.00773279 -0.52128683] [ 0.00703859 0.99997321 0.00201075 -0.77327077] [ 0.00771846 -0.00206507 0.99996808 0.0247682 ] [ 0. 0. 0. 1. ]] SLAMing on 22.681652532 meters 0.27323987336791516 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.77, Z:0.02 [[ 0.99996986 -0.00288608 -0.00720783 -0.52198683] [ 0.00292785 0.99997895 0.00579112 -0.7717745 ] [ 0.00719096 -0.00581205 0.99995725 0.02381596] [ 0. 0. 0. 1. ]] SLAMing on 22.711652532000002 meters 0.2779396574391454 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.9999811 -0.00243184 -0.00564656 -0.52531923] [ 0.00246269 0.99998205 0.00546129 -0.77086206] [ 0.00563318 -0.00547509 0.99996914 0.02273593] [ 0. 0. 0. 1. ]] SLAMing on 22.741652532 meters 0.2815012012891929 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99999065 0.00212213 -0.00376729 -0.52882693] [-0.00208952 0.9999605 0.00863956 -0.76764255] [ 0.00378547 -0.0086316 0.99995558 0.02078341] [ 0. 0. 0. 1. ]] SLAMing on 22.771652532 meters 0.2865601005742794 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99999315 0.00251532 -0.00271501 -0.53126063] [-0.00249168 0.99995925 0.00867721 -0.76787994] [ 0.00273672 -0.00867039 0.99995867 0.02042166] [ 0. 0. 0. 1. ]] SLAMing on 22.801652532000002 meters 0.2907441384006842 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.77, Z:0.02 [[ 0.99997103 0.00743863 -0.00161415 -0.53378879] [-0.00741648 0.99988374 0.01332275 -0.76890369] [ 0.00171306 -0.01331039 0.99990995 0.0200406 ] [ 0. 0. 0. 1. ]] SLAMing on 22.831652532 meters 0.31464823936140907 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.78, Z:0.02 [[ 0.99964782 0.02613113 0.00462609 -0.54825274] [-0.02624562 0.99929851 0.02671443 -0.78220571] [-0.00392477 -0.02682644 0.9996324 0.01564649] [ 0. 0. 0. 1. ]] SLAMing on 22.861652532 meters 0.3187747441994165 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.79, Z:0.02 [[ 0.99953554 0.02964879 0.00704605 -0.55414975] [-0.02984136 0.99913362 0.02900858 -0.78689316] [-0.00617987 -0.02920537 0.99955433 0.0150711 ] [ 0. 0. 0. 1. ]] SLAMing on 22.891652532000002 meters 0.3326507918581076 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.80, Z:0.01 [[ 0.99926908 0.03629862 0.01198821 -0.56542746] [-0.036663 0.99882414 0.03172003 -0.79575696] [-0.01082272 -0.03213637 0.9994249 0.01183608] [ 0. 0. 0. 1. ]] SLAMing on 22.921652532 meters 0.3460769988388704 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.81, Z:0.01 [[ 0.99892113 0.0432926 0.01680244 -0.57688356] [-0.04386186 0.99841957 0.03513537 -0.80538809] [-0.01525478 -0.03583445 0.9992413 0.00933761] [ 0. 0. 0. 1. ]] SLAMing on 22.951652532 meters 0.3555396949437987 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.82, Z:0.01 [[ 0.9982406 0.0549603 0.0222503 -0.58932579] [-0.05586492 0.99754138 0.04231209 -0.81708401] [-0.01987011 -0.04348066 0.99885665 0.00607622] [ 0. 0. 0. 1. ]] SLAMing on 22.981652532000002 meters 0.3652570806516654 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.82, Z:0.01 [[ 0.9982136 0.05520625 0.0228446 -0.5906095 ] [-0.05613987 0.99751909 0.04247333 -0.81776969] [-0.02044313 -0.04367994 0.99883639 0.00565163] [ 0. 0. 0. 1. ]] SLAMing on 23.011652532 meters 0.36498484291495714 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.82, Z:0.01 [[ 0.99832412 0.05263352 0.02405528 -0.59460743] [-0.05355884 0.99777943 0.03959377 -0.82105581] [-0.02191791 -0.04081579 0.99892626 0.00636201] [ 0. 0. 0. 1. ]] SLAMing on 23.041652532 meters 0.3499382038212054 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.83, Z:0.01 [[ 0.99825008 0.05203118 0.02809873 -0.60645645] [-0.05303981 0.99792766 0.03643026 -0.83332047] [-0.02614499 -0.03785686 0.99894109 0.00617749] [ 0. 0. 0. 1. ]] SLAMing on 23.071652532 meters 0.3567489664345306 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.83, Z:0.01 [[ 0.99822628 0.05218013 0.02866226 -0.60751327] [-0.05321121 0.99791698 0.03647272 -0.83371627] [-0.02669941 -0.03793318 0.99892353 0.00555636] [ 0. 0. 0. 1. ]] SLAMing on 23.101652532 meters 0.3646753875411161 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.84, Z:0.01 [[ 0.99837999 0.04869772 0.02942678 -0.60991306] [-0.04966324 0.99821995 0.03302269 -0.83640568] [-0.02776627 -0.03443062 0.9990213 0.00556947] [ 0. 0. 0. 1. ]] SLAMing on 23.131652532 meters 0.3604830634426994 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.85, Z:0.01 [[ 0.99858023 0.04467363 0.02901352 -0.61158697] [-0.04555007 0.99850292 0.0302839 -0.84552746] [-0.0276172 -0.03156248 0.99912016 0.00872159] [ 0. 0. 0. 1. ]] SLAMing on 23.161652532 meters 0.3475259696496849 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.85, Z:0.01 [[ 0.99884547 0.03803779 0.02934032 -0.61351054] [-0.03875598 0.99895294 0.02431038 -0.85219451] [-0.02838488 -0.02541943 0.99927381 0.00982337] [ 0. 0. 0. 1. ]] SLAMing on 23.191652532 meters 0.3540755386425304 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.86, Z:0.01 [[ 0.99934786 0.03316476 0.01428147 -0.61059878] [-0.03345802 0.99922345 0.0208099 -0.86454359] [-0.01358022 -0.02127416 0.99968144 0.01207981] [ 0. 0. 0. 1. ]] SLAMing on 23.221652532 meters 0.3317478008880071 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.87, Z:0.01 [[ 0.99957782 0.02534933 0.01419825 -0.61138521] [-0.02553868 0.99958512 0.0133178 -0.8681676 ] [-0.01385476 -0.01367478 0.99981051 0.0126577 ] [ 0. 0. 0. 1. ]] SLAMing on 23.251652532 meters 0.32752741246308853 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.86, Z:0.02 [[ 0.99990995 0.01043318 0.00844013 -0.60053675] [-0.01046216 0.9999395 0.00339657 -0.86045996] [-0.00840418 -0.00348457 0.99995861 0.01898091] [ 0. 0. 0. 1. ]] SLAMing on 23.281652532 meters 0.3119187206098617 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.86, Z:0.02 [[ 9.99951468e-01 6.30265776e-03 7.57222908e-03 -5.99340624e-01] [-6.30113396e-03 9.99980122e-01 -2.25076201e-04 -8.62374661e-01] [-7.57349714e-03 1.77351648e-04 9.99971305e-01 2.02938232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311652532 meters 0.3023657988742077 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.86, Z:0.02 [[ 0.99997333 0.00214245 0.00698192 -0.59874667] [-0.00211428 0.99998961 -0.00403885 -0.86370535] [-0.0069905 0.00402398 0.99996747 0.02154008] [ 0. 0. 0. 1. ]] SLAMing on 23.341652532 meters 0.2956897519842251 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.86, Z:0.03 [[ 0.99999026 -0.00389697 0.00207333 -0.58851029] [ 0.00391013 0.99997198 -0.0063833 -0.85694049] [-0.00204839 0.00639135 0.99997748 0.02591743] [ 0. 0. 0. 1. ]] SLAMing on 23.371652532 meters 0.294412888327617 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.86, Z:0.03 [[ 9.99992045e-01 -3.90792191e-03 7.99289328e-04 -5.86116188e-01] [ 3.91242490e-03 9.99976033e-01 -5.71198369e-03 -8.58704364e-01] [-7.76948185e-04 5.71506540e-03 9.99983367e-01 2.71453429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401652532 meters 0.28620043397473865 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.86, Z:0.03 [[ 9.99965006e-01 -8.34823520e-03 -5.42341686e-04 -5.83939420e-01] [ 8.34280716e-03 9.99921580e-01 -9.33972795e-03 -8.60408714e-01] [ 6.20269401e-04 9.33487646e-03 9.99956237e-01 2.90900080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431652532 meters 0.28167247109363996 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.86, Z:0.03 [[ 0.99990617 -0.0130569 -0.00414397 -0.57568136] [ 0.01300766 0.99984703 -0.01169302 -0.85567605] [ 0.00429601 0.01163802 0.99992305 0.03127538] [ 0. 0. 0. 1. ]] SLAMing on 23.461652532000002 meters 0.2712466826001579 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.86, Z:0.03 [[ 0.9997995 -0.01895794 -0.00644619 -0.56989751] [ 0.0188538 0.99969663 -0.01584869 -0.85812808] [ 0.00674469 0.01572398 0.99985362 0.03217858] [ 0. 0. 0. 1. ]] SLAMing on 23.491652532 meters 0.2701780753550561 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.86, Z:0.03 [[ 0.99979412 -0.01879789 -0.00763941 -0.56744523] [ 0.01868205 0.99971352 -0.0149622 -0.86070686] [ 0.00791848 0.0148164 0.99985888 0.0330609 ] [ 0. 0. 0. 1. ]] SLAMing on 23.521652532 meters 0.2636158114486335 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.86, Z:0.03 [[ 0.99974317 -0.02059393 -0.00945969 -0.56355339] [ 0.02044212 0.99966501 -0.01587402 -0.85988851] [ 0.00978343 0.01567657 0.99982925 0.03428267] [ 0. 0. 0. 1. ]] SLAMing on 23.551652532000002 meters 0.258034440926225 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.86, Z:0.04 [[ 0.99971319 -0.02121777 -0.01110649 -0.56103324] [ 0.02104598 0.99966047 -0.01536253 -0.86157323] [ 0.01142867 0.01512438 0.9998203 0.0368651 ] [ 0. 0. 0. 1. ]] SLAMing on 23.581652532 meters 0.2562935563989525 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.86, Z:0.04 [[ 0.9997064 -0.02137957 -0.01140291 -0.56078624] [ 0.02120175 0.99965516 -0.01549318 -0.86101478] [ 0.01173021 0.01524687 0.99981495 0.0376398 ] [ 0. 0. 0. 1. ]] SLAMing on 23.611652532 meters 0.2547190574642276 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.86, Z:0.04 [[ 0.9996977 -0.02187918 -0.01121635 -0.56086122] [ 0.02169426 0.99963092 -0.01635198 -0.85839547] [ 0.01156997 0.01610371 0.99980338 0.03718073] [ 0. 0. 0. 1. ]] SLAMing on 23.641652532000002 meters 0.2555549212790818 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.85, Z:0.04 [[ 0.99974698 -0.0191057 -0.01187254 -0.55903013] [ 0.0189351 0.99971817 -0.01431944 -0.85302611] [ 0.01214278 0.014091 0.99982698 0.03622265] [ 0. 0. 0. 1. ]] SLAMing on 23.671652532 meters 0.2575470614052787 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.85, Z:0.03 [[ 0.99975396 -0.01940584 -0.01074378 -0.5610213 ] [ 0.01923533 0.99969088 -0.01575271 -0.84863121] [ 0.01104616 0.01554217 0.9998182 0.03476165] [ 0. 0. 0. 1. ]] SLAMing on 23.701652532 meters 0.26080214882722463 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.85, Z:0.03 [[ 0.99982641 -0.0152338 -0.01072779 -0.56092283] [ 0.01510719 0.99981641 -0.01178641 -0.84752995] [ 0.01090537 0.01162229 0.99987299 0.0343153 ] [ 0. 0. 0. 1. ]] SLAMing on 23.731652532000002 meters 0.2668085781451056 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.85, Z:0.03 [[ 0.99988279 -0.01092924 -0.01072142 -0.56109069] [ 0.01084815 0.99991233 -0.00759253 -0.84705709] [ 0.01080346 0.00747534 0.9999137 0.03434408] [ 0. 0. 0. 1. ]] SLAMing on 23.761652532 meters 0.27005940424773645 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.85, Z:0.04 [[ 0.99993148 -0.00585709 -0.01013526 -0.56322238] [ 0.00583385 0.99998029 -0.00232107 -0.84961992] [ 0.01014865 0.00226179 0.99994594 0.03505105] [ 0. 0. 0. 1. ]] SLAMing on 23.791652532 meters 0.28026561458303595 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.85, Z:0.04 [[ 0.99992646 0.00783845 -0.00925431 -0.56616178] [-0.00773432 0.99990698 0.01123451 -0.85093138] [ 0.00934151 -0.01116211 0.99989407 0.03613957] [ 0. 0. 0. 1. ]] SLAMing on 23.821652532 meters 0.2882512197831819 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.86, Z:0.03 [[ 0.99987701 0.01497676 -0.00465325 -0.5776808 ] [-0.01490563 0.99977696 0.01496188 -0.86073758] [ 0.00487629 -0.01489068 0.99987724 0.03395027] [ 0. 0. 0. 1. ]] SLAMing on 23.851652532 meters 0.29421764234276837 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.87, Z:0.03 [[ 0.9998164 0.01895544 -0.0028015 -0.58261929] [-0.01890086 0.99965259 0.0183698 -0.86637314] [ 0.00314873 -0.01831348 0.99982734 0.03416403] [ 0. 0. 0. 1. ]] SLAMing on 23.881652532 meters 0.29421764234276837 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.87, Z:0.03 [[ 0.99987511 0.01567003 -0.00205106 -0.58533981] [-0.01563666 0.99975941 0.01538214 -0.8690462 ] [ 0.0022916 -0.01534815 0.99987958 0.0349025 ] [ 0. 0. 0. 1. ]] SLAMing on 23.911652532 meters 0.30715382201986957 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.88, Z:0.03 [[ 0.99965773 0.02593223 0.00345595 -0.59593155] [-0.02599916 0.99944178 0.02098027 -0.87629472] [-0.00290996 -0.02106294 0.99977392 0.02919887] [ 0. 0. 0. 1. ]] SLAMing on 23.941652532 meters 0.30800591282298223 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.88, Z:0.03 [[ 0.9997293 0.02281351 0.00456861 -0.59939235] [-0.02289226 0.99957591 0.01799825 -0.87966425] [-0.00415607 -0.01809796 0.99982758 0.02992274] [ 0. 0. 0. 1. ]] SLAMing on 23.971652532 meters 0.30782196752872615 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.88, Z:0.03 [[ 0.99980066 0.01926076 0.00525882 -0.60126403] [-0.01933612 0.9997053 0.0146772 -0.88269897] [-0.00497457 -0.01477596 0.99987845 0.02983837] [ 0. 0. 0. 1. ]] SLAMing on 24.001652532 meters 0.3061036239634021 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.9998608 0.01562048 0.00586279 -0.60276495] [-0.01568561 0.99981387 0.01123296 -0.88546334] [-0.00568623 -0.01132336 0.99991972 0.02946791] [ 0. 0. 0. 1. ]] SLAMing on 24.031652532 meters 0.3071063483993851 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99990864 0.01164967 0.00685608 -0.60491923] [-0.011698 0.99990672 0.00705072 -0.88619242] [-0.0067733 -0.00713028 0.99995164 0.02871402] [ 0. 0. 0. 1. ]] SLAMing on 24.061652532 meters 0.3031754737151579 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99994362 0.0075198 0.0074978 -0.60596337] [-0.00754052 0.99996782 0.00273916 -0.88651291] [-0.00747696 -0.00279554 0.99996814 0.02765509] [ 0. 0. 0. 1. ]] SLAMing on 24.091652532 meters 0.303206138617765 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99994806 0.00726545 0.00714759 -0.60473616] [-0.00728289 0.99997056 0.00241773 -0.88556266] [-0.00712982 -0.00246966 0.99997153 0.02723052] [ 0. 0. 0. 1. ]] SLAMing on 24.121652532 meters 0.3021683985654464 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99965042e-01 3.69450890e-03 7.50105861e-03 -6.05864093e-01] [-3.68861590e-03 9.99992878e-01 -7.99304406e-04 -8.89000804e-01] [-7.50395822e-03 7.71607939e-04 9.99971547e-01 2.74356465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151652532 meters 0.29801158802547084 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 9.99979341e-01 2.75161889e-03 5.80907641e-03 -6.02830954e-01] [-2.74780396e-03 9.99996004e-01 -6.64597669e-04 -8.89472019e-01] [-5.81088192e-03 6.48621736e-04 9.99982906e-01 2.94813507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181652532 meters 0.29457046388045016 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 9.99981421e-01 2.96723372e-03 5.32477611e-03 -6.02518808e-01] [-2.96696219e-03 9.99995597e-01 -5.88925248e-05 -8.91010254e-01] [-5.32492742e-03 4.30930212e-05 9.99985822e-01 3.07934986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211652532000002 meters 0.30167995300341743 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99998531 -0.00149543 0.00520994 -0.60257653] [ 0.00151916 0.99998847 -0.00455525 -0.89039048] [-0.00520306 0.0045631 0.99997605 0.03138405] [ 0. 0. 0. 1. ]] SLAMing on 24.241652532 meters 0.3006345697531832 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99996695 -0.00638733 0.00502971 -0.60117857] [ 0.0064365 0.99993106 -0.00982053 -0.88766203] [-0.00496663 0.00985258 0.99993913 0.03015313] [ 0. 0. 0. 1. ]] SLAMing on 24.271652532 meters 0.28564394502441964 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99998752 -0.0031437 0.00388222 -0.59759341] [ 0.00316839 0.99997469 -0.00637079 -0.886464 ] [-0.0038621 0.00638301 0.99997217 0.02907862] [ 0. 0. 0. 1. ]] SLAMing on 24.301652532000002 meters 0.29195394813140735 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.9999889 -0.00318067 0.00347746 -0.59653741] [ 0.00320253 0.99997504 -0.00629828 -0.88668863] [-0.00345734 0.00630935 0.99997412 0.0290183 ] [ 0. 0. 0. 1. ]] SLAMing on 24.331652532 meters 0.2933912776653769 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.88, Z:0.03 [[ 9.99998451e-01 -3.63670256e-04 1.72191378e-03 -5.92949079e-01] [ 3.68912902e-04 9.99995295e-01 -3.04532400e-03 -8.84852883e-01] [-1.72079819e-03 3.04595452e-03 9.99993880e-01 2.99155181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361652532 meters 0.28745978986036386 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.89, Z:0.03 [[ 9.99998641e-01 1.51953980e-04 1.64140090e-03 -5.93743723e-01] [-1.48481013e-04 9.99997751e-01 -2.11576979e-03 -8.87469760e-01] [-1.64171871e-03 2.11552320e-03 9.99996415e-01 3.12269203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391652532000002 meters 0.28854764142504696 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.89, Z:0.03 [[ 9.99998044e-01 5.81748654e-04 1.89036559e-03 -5.94769924e-01] [-5.78986865e-04 9.99998765e-01 -1.46120013e-03 -8.89473804e-01] [-1.89121331e-03 1.46010277e-03 9.99997146e-01 3.17665384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421652532 meters 0.28878710597289514 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 9.99996266e-01 9.43074601e-04 2.56490125e-03 -5.96404834e-01] [-9.40333242e-04 9.99998986e-01 -1.06979309e-03 -8.90799298e-01] [-2.56590754e-03 1.06737724e-03 9.99996138e-01 3.16153846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451652532 meters 0.29293228109969427 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 9.99993288e-01 1.38974090e-03 3.39012125e-03 -5.98236718e-01] [-1.38763191e-03 9.99998842e-01 -6.24371044e-04 -8.92264596e-01] [-3.39098504e-03 6.19662613e-04 9.99994059e-01 3.11617064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481652532000002 meters 0.29649648543607415 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99997036 0.00599799 0.00482709 -0.60110599] [-0.00601369 0.99997665 0.00324539 -0.89099882] [-0.00480751 -0.00327432 0.99998308 0.03002275] [ 0. 0. 0. 1. ]] SLAMing on 24.511652532 meters 0.2982165103017115 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99996751 0.00593375 0.00545643 -0.60232289] [-0.00594952 0.99997816 0.00287799 -0.89000305] [-0.00543924 -0.00291036 0.99998097 0.0294703 ] [ 0. 0. 0. 1. ]] SLAMing on 24.541652532 meters 0.30214028993513975 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99996023 0.006344 0.00626814 -0.60411531] [-0.006364 0.9999747 0.00317707 -0.89107851] [-0.00624782 -0.00321684 0.99997531 0.02899242] [ 0. 0. 0. 1. ]] SLAMing on 24.571652532 meters 0.3059344425860138 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.89, Z:0.03 [[ 0.99995906 0.0063365 0.00645952 -0.60438824] [-0.00635666 0.99997497 0.00310552 -0.89093762] [-0.00643968 -0.00314645 0.99997431 0.02868339] [ 0. 0. 0. 1. ]] SLAMing on 24.601652532 meters 0.303927606821574 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99995423 0.00637128 0.00713717 -0.60600899] [-0.00639198 0.99997542 0.00288119 -0.89026417] [-0.00711864 -0.00292668 0.99997038 0.02860076] [ 0. 0. 0. 1. ]] SLAMing on 24.631652532 meters 0.3083324574519109 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99994404 0.00701892 0.00791483 -0.60762977] [-0.00704853 0.99996824 0.00371918 -0.89289812] [-0.00788847 -0.00377476 0.99996176 0.02801507] [ 0. 0. 0. 1. ]] SLAMing on 24.661652532 meters 0.3096985377404501 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99994114 0.00698629 0.00830154 -0.60842828] [-0.00701593 0.9999691 0.00354709 -0.8924402 ] [-0.0082765 -0.00360512 0.99995925 0.02776752] [ 0. 0. 0. 1. ]] SLAMing on 24.691652532 meters 0.313867790604435 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99993423 0.00704975 0.00904684 -0.61003993] [-0.00708072 0.99996917 0.00339592 -0.89212342] [-0.00902262 -0.00345976 0.99995331 0.02735929] [ 0. 0. 0. 1. ]] SLAMing on 24.721652532 meters 0.311129436916142 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 0.99994366 0.00655048 0.0083532 -0.60845961] [-0.00657591 0.99997382 0.00302043 -0.8909216 ] [-0.00833319 -0.00307519 0.99996055 0.0278012 ] [ 0. 0. 0. 1. ]] SLAMing on 24.751652532 meters 0.3068065897845949 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99960574e-01 2.51504019e-03 8.51612357e-03 -6.09066028e-01] [-2.50741081e-03 9.99996446e-01 -9.06432948e-04 -8.92250860e-01] [-8.51837302e-03 8.85043791e-04 9.99963326e-01 2.79875912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781652532 meters 0.3122583662440898 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99963999e-01 2.51521372e-03 8.10396003e-03 -6.07835719e-01] [-2.50878623e-03 9.99996530e-01 -8.03197885e-04 -8.92616131e-01] [-8.10595212e-03 7.82837866e-04 9.99966840e-01 2.76992751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811652532 meters 0.3029899963569732 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99966372e-01 2.50575004e-03 7.80875317e-03 -6.06976467e-01] [-2.50000247e-03 9.99996597e-01 -7.45715342e-04 -8.92795212e-01] [-7.81059517e-03 7.26168363e-04 9.99969233e-01 2.75029541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841652532 meters 0.3248523049004217 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99965821e-01 2.50710811e-03 7.87847753e-03 -6.07506975e-01] [-2.50126114e-03 9.99996589e-01 -7.51910233e-04 -8.92659495e-01] [-7.88033578e-03 7.32178404e-04 9.99968682e-01 2.80278875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871652532 meters 0.3025814763650092 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99964219e-01 2.90273737e-03 7.94569622e-03 -6.08081377e-01] [-2.90208728e-03 9.99995785e-01 -9.33448431e-05 -8.94717111e-01] [-7.94593368e-03 7.02823992e-05 9.99968428e-01 2.85562062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901652532 meters 0.3017155760317693 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99964388e-01 3.04483662e-03 7.87092373e-03 -6.08518544e-01] [-3.04649444e-03 9.99995340e-01 1.98644900e-04 -8.95471518e-01] [-7.87028221e-03 -2.22616552e-04 9.99969004e-01 2.94891963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931652532 meters 0.31602627590484494 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99963031e-01 3.37055272e-03 7.91046230e-03 -6.08870338e-01] [-3.37647258e-03 9.99994029e-01 7.35123778e-04 -8.97175877e-01] [-7.90793729e-03 -7.61806061e-04 9.99968442e-01 2.97853426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961652532000002 meters 0.3007641836097867 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99963038e-01 3.49665677e-03 7.85467616e-03 -6.08501006e-01] [-3.50419174e-03 9.99993413e-01 9.45739684e-04 -8.97923989e-01] [-7.85131749e-03 -9.73229019e-04 9.99968704e-01 2.93900652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991652532 meters 0.3041588285941191 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99962050e-01 3.38514605e-03 8.02739412e-03 -6.08543577e-01] [-3.39082553e-03 9.99994010e-01 6.94006940e-04 -8.97231688e-01] [-8.02499673e-03 -7.21200095e-04 9.99967539e-01 2.88028403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021652532 meters 0.30322284513287673 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99961167e-01 3.27598705e-03 8.18123416e-03 -6.08607376e-01] [-3.27981905e-03 9.99994518e-01 4.55016842e-04 -8.96560241e-01] [-8.17969868e-03 -4.81832140e-04 9.99966430e-01 2.83367854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051652532000002 meters 0.3030272487747538 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99958282e-01 3.02863955e-03 8.61752613e-03 -6.09137138e-01] [-3.02774725e-03 9.99995410e-01 -1.16589316e-04 -8.94877705e-01] [-8.61783968e-03 9.04927609e-05 9.99962862e-01 2.75024405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081652532 meters 0.3014193016985184 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99960678e-01 2.92442009e-03 8.37203197e-03 -6.08824782e-01] [-2.92286308e-03 9.99995709e-01 -1.98207563e-04 -8.94457797e-01] [-8.37257569e-03 1.73729466e-04 9.99964934e-01 2.79901315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111652532 meters 0.2989017038818325 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.89, Z:0.03 [[ 9.99963844e-01 2.89199033e-03 7.99663426e-03 -6.08389178e-01] [-2.89109847e-03 9.99995813e-01 -1.23086466e-04 -8.94506802e-01] [-7.99695674e-03 9.99629585e-05 9.99968019e-01 2.87916021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141652532000002 meters 0.3067656100638424 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.90, Z:0.03 [[ 9.99968241e-01 3.14164932e-03 7.32443917e-03 -6.07037681e-01] [-3.14579156e-03 9.99994898e-01 5.54084532e-04 -8.96552813e-01] [-7.32266107e-03 -5.77108093e-04 9.99973022e-01 2.92569186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171652532 meters 0.29496665938632805 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 9.99982782e-01 2.11934402e-03 5.47206196e-03 -6.02930233e-01] [-2.12332936e-03 9.99997485e-01 7.22598724e-04 -8.97464506e-01] [-5.47051677e-03 -7.34205272e-04 9.99984767e-01 3.04112674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201652532 meters 0.2889762017190346 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 9.99989625e-01 1.59168262e-03 4.26813509e-03 -6.00380447e-01] [-1.59455464e-03 9.99998505e-01 6.69578917e-04 -8.97417821e-01] [-4.26706295e-03 -6.76377744e-04 9.99990667e-01 3.12534973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231652532000002 meters 0.2872983613284435 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 9.99994910e-01 1.12652976e-03 2.98495681e-03 -5.97445884e-01] [-1.12805902e-03 9.99999233e-01 5.10686826e-04 -8.97025001e-01] [-2.98437922e-03 -5.14051434e-04 9.99995415e-01 3.17373901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261652532 meters 0.2898960866604227 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99998353e-01 4.08706060e-04 1.76820616e-03 -5.94552678e-01] [-4.08689884e-04 9.99999916e-01 -9.50989164e-06 -8.95924427e-01] [-1.76820990e-03 8.78722800e-06 9.99998437e-01 3.19814710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291652532 meters 0.2814686459151781 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 0.99999222 -0.00372545 0.00129274 -0.59344379] [ 0.0037304 0.99998564 -0.00384714 -0.89749044] [-0.00127839 0.00385193 0.99999176 0.03207236] [ 0. 0. 0. 1. ]] SLAMing on 25.321652532 meters 0.29300961871916587 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99992001e-01 -3.89415280e-03 9.12732023e-04 -5.92705075e-01] [ 3.89778598e-03 9.99984351e-01 -4.01316214e-03 -8.96874813e-01] [-8.97089873e-04 4.01668767e-03 9.99991531e-01 3.24798190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351652532 meters 0.2900201901178814 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99992777e-01 -3.73399683e-03 7.09814635e-04 -5.92631176e-01] [ 3.73656736e-03 9.99986338e-01 -3.65526009e-03 -8.97881259e-01] [-6.96156208e-04 3.65788595e-03 9.99993068e-01 3.31129211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381652532 meters 0.27622541693304953 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99991539e-01 -4.08961172e-03 4.42944366e-04 -5.92332476e-01] [ 4.09136656e-03 9.99983485e-01 -4.03607422e-03 -8.96634129e-01] [-4.26431074e-04 4.03785232e-03 9.99991757e-01 3.37437138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411652532 meters 0.2928894627760752 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99990908e-01 -4.26110020e-03 -1.65688286e-04 -5.91063890e-01] [ 4.26037791e-03 9.99982357e-01 -4.13941892e-03 -8.96225492e-01] [ 1.83323841e-04 4.13867538e-03 9.99991419e-01 3.41944273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441652532 meters 0.2889134762600223 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99991320e-01 -4.10958241e-03 -6.86156096e-04 -5.89998526e-01] [ 4.10700910e-03 9.99984682e-01 -3.71053738e-03 -8.97499523e-01] [ 7.01394345e-04 3.70768713e-03 9.99992881e-01 3.45405079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471652532 meters 0.27172941623145536 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99998953 -0.00421711 -0.0017741 -0.58813039] [ 0.00421132 0.99998584 -0.00325368 -0.89859468] [ 0.0017878 0.00324617 0.99999313 0.03591591] [ 0. 0. 0. 1. ]] SLAMing on 25.501652532 meters 0.28767111533703194 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99998767 -0.00412197 -0.00277061 -0.58645991] [ 0.00411456 0.99998796 -0.00267519 -0.90014389] [ 0.0027816 0.00266376 0.99999258 0.03720817] [ 0. 0. 0. 1. ]] SLAMing on 25.531652532 meters 0.2719810014049623 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99998644 -0.00423113 -0.00303733 -0.58585771] [ 0.00422274 0.99998727 -0.00276116 -0.8998203 ] [ 0.00304898 0.0027483 0.99999158 0.03734567] [ 0. 0. 0. 1. ]] SLAMing on 25.561652532 meters 0.28028254320808477 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99998355 -0.00459085 -0.00343952 -0.58490162] [ 0.00457963 0.99998419 -0.00326266 -0.89823868] [ 0.00345444 0.00324685 0.99998876 0.03748406] [ 0. 0. 0. 1. ]] SLAMing on 25.591652532 meters 0.27865656097311664 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99998439 -0.00444551 -0.00338533 -0.58475496] [ 0.00443523 0.99998554 -0.0030398 -0.89906725] [ 0.00339879 0.00302474 0.99998965 0.03701099] [ 0. 0. 0. 1. ]] SLAMing on 25.621652532 meters 0.27194656603494904 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99998713 -0.00400681 -0.00311151 -0.58540596] [ 0.0039994 0.99998916 -0.00238513 -0.90109531] [ 0.00312104 0.00237266 0.99999231 0.03678807] [ 0. 0. 0. 1. ]] SLAMing on 25.651652532 meters 0.2780479606839038 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99995560e-01 -7.48885784e-05 -2.97895123e-03 -5.85419464e-01] [ 7.85455640e-05 9.99999244e-01 1.22751036e-03 -8.98914673e-01] [ 2.97885705e-03 -1.22773889e-03 9.99994810e-01 3.63816459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681652532 meters 0.2768403097938017 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99997396e-01 2.25281693e-05 -2.28217278e-03 -5.86957061e-01] [-1.97947631e-05 9.99999283e-01 1.19773650e-03 -8.98937648e-01] [ 2.28219813e-03 -1.19768820e-03 9.99996679e-01 3.60000821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711652532 meters 0.2774861540119244 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99998920e-01 7.21917601e-05 -1.46782194e-03 -5.88819898e-01] [-7.07182524e-05 9.99999494e-01 1.00390070e-03 -8.98405182e-01] [ 1.46789367e-03 -1.00379581e-03 9.99998419e-01 3.57072317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741652532 meters 0.2772728753673983 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99999738e-01 2.18595818e-04 -6.90645825e-04 -5.90379930e-01] [-2.17888684e-04 9.99999452e-01 1.02378295e-03 -8.98654433e-01] [ 6.90869242e-04 -1.02363220e-03 9.99999237e-01 3.50823938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771652532 meters 0.2772728753673983 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99999738e-01 2.18595818e-04 -6.90645825e-04 -5.90379930e-01] [-2.17888684e-04 9.99999452e-01 1.02378295e-03 -8.98654433e-01] [ 6.90869242e-04 -1.02363220e-03 9.99999237e-01 3.50823938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801652532000002 meters 0.2792544543464201 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99999748e-01 6.17768735e-04 3.48738807e-04 -5.92596533e-01] [-6.18204705e-04 9.99999026e-01 1.25141133e-03 -8.99408911e-01] [-3.47965384e-04 -1.25162661e-03 9.99999156e-01 3.44999393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831652532 meters 0.2803921953050123 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 9.99999099e-01 7.74837857e-04 1.09648348e-03 -5.94413404e-01] [-7.76220499e-04 9.99998904e-01 1.26111523e-03 -8.99492362e-01] [-1.09550511e-03 -1.26196521e-03 9.99998604e-01 3.43676105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861652532 meters 0.2836714213832167 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.99999679 0.00135582 0.00214253 -0.59700061] [-0.0013598 0.99999736 0.00185316 -0.90116044] [-0.00214001 -0.00185607 0.99999599 0.03430076] [ 0. 0. 0. 1. ]] SLAMing on 25.891652532000002 meters 0.28517636528349466 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.9999946 0.00160472 0.00286679 -0.59872622] [-0.00161078 0.99999647 0.00211197 -0.90204287] [-0.0028634 -0.00211658 0.99999366 0.0341555 ] [ 0. 0. 0. 1. ]] SLAMing on 25.921652532 meters 0.2825599698084632 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.9999907 -0.00310269 0.00299572 -0.59851397] [ 0.00311142 0.99999091 -0.00291405 -0.89999997] [-0.00298665 0.00292334 0.99999127 0.0334821 ] [ 0. 0. 0. 1. ]] SLAMing on 25.951652532 meters 0.28201141490608306 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.99999112 -0.00292738 0.00303221 -0.59829135] [ 0.00293544 0.99999216 -0.00265625 -0.90094315] [-0.00302441 0.00266513 0.99999187 0.03291112] [ 0. 0. 0. 1. ]] SLAMing on 25.981652532000002 meters 0.284804520386596 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.99999223 -0.00225162 0.00323683 -0.59894766] [ 0.00225686 0.99999615 -0.00161631 -0.90404396] [-0.00323318 0.0016236 0.99999346 0.03293182] [ 0. 0. 0. 1. ]] SLAMing on 26.011652532 meters 0.28095965234682446 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.99999229 -0.00352432 0.00173452 -0.59636939] [ 0.00352824 0.99999121 -0.00226322 -0.90264133] [-0.00172653 0.00226933 0.99999593 0.0348212 ] [ 0. 0. 0. 1. ]] SLAMing on 26.041652532 meters 0.2822958638022427 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99992838e-01 -3.73952057e-03 5.83440689e-04 -5.93830700e-01] [ 3.74064872e-03 9.99991113e-01 -1.94465976e-03 -9.03553156e-01] [-5.76163409e-04 1.94682828e-03 9.99997939e-01 3.54341058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071652532 meters 0.2779931731196558 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99989126e-01 -4.59490392e-03 -7.96743372e-04 -5.90450702e-01] [ 4.59293267e-03 9.99986430e-01 -2.45856403e-03 -9.02601381e-01] [ 8.08029426e-04 2.45487791e-03 9.99996660e-01 3.56696110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101652532 meters 0.27174856945828935 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99995486 -0.00936834 -0.00158379 -0.58832311] [ 0.00935677 0.99993058 -0.00716183 -0.90161122] [ 0.00165077 0.00714669 0.9999731 0.03574388] [ 0. 0. 0. 1. ]] SLAMing on 26.131652532 meters 0.26556575370680574 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99995321 -0.00938514 -0.00234354 -0.5868946 ] [ 0.00936871 0.99993211 -0.00692812 -0.90216427] [ 0.0024084 0.00690584 0.99997325 0.0364893 ] [ 0. 0. 0. 1. ]] SLAMing on 26.161652532 meters 0.2618561281207355 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.9999493 -0.00962705 -0.00295088 -0.58580309] [ 0.00960589 0.99992862 -0.00710455 -0.9014934 ] [ 0.00301906 0.00707585 0.99997041 0.03729073] [ 0. 0. 0. 1. ]] SLAMing on 26.191652532 meters 0.2626568260348278 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99997577 -0.00557814 -0.00416553 -0.58329743] [ 0.00556662 0.99998067 -0.00277117 -0.90154688] [ 0.00418091 0.00274792 0.99998748 0.03807198] [ 0. 0. 0. 1. ]] SLAMing on 26.221652532 meters 0.2645023487422621 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99998408 -0.00187197 -0.00532291 -0.58059811] [ 0.001878 0.9999976 0.00112836 -0.90060838] [ 0.00532079 -0.00113834 0.9999852 0.0384189 ] [ 0. 0. 0. 1. ]] SLAMing on 26.251652532 meters 0.26127397667889657 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99983860e-01 -2.10319689e-03 -5.27796357e-03 -5.80197510e-01] [ 2.10711340e-03 9.99997509e-01 7.36599023e-04 -8.99533466e-01] [ 5.27640121e-03 -7.47708402e-04 9.99985800e-01 3.77239727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281652532 meters 0.2634234377353062 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99985502e-01 -2.08936248e-03 -4.96290542e-03 -5.80526080e-01] [ 2.09266265e-03 9.99997593e-01 6.59867816e-04 -8.99491160e-01] [ 4.96151477e-03 -6.70243936e-04 9.99987467e-01 3.70252424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311652532 meters 0.26782230660792955 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99998749 0.00219485 -0.00449544 -0.58138683] [-0.00217362 0.99998649 0.00472177 -0.89875129] [ 0.00450574 -0.00471194 0.99997875 0.03655724] [ 0. 0. 0. 1. ]] SLAMing on 26.341652532 meters 0.2690551537744204 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99999104 0.00243733 -0.00346022 -0.58416594] [-0.00242063 0.99998544 0.00482223 -0.89889994] [ 0.00347192 -0.00481381 0.99998239 0.03683641] [ 0. 0. 0. 1. ]] SLAMing on 26.371652532 meters 0.26859153485789533 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99999326 0.00279287 -0.00238371 -0.58685532] [-0.0027808 0.99998337 0.00505261 -0.89951137] [ 0.00239779 -0.00504594 0.99998439 0.03684388] [ 0. 0. 0. 1. ]] SLAMing on 26.401652532 meters 0.2710054017309681 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 0.99999342 0.00318659 -0.00173357 -0.58827449] [-0.00317692 0.99997956 0.00554847 -0.90112718] [ 0.00175122 -0.00554293 0.9999831 0.036484 ] [ 0. 0. 0. 1. ]] SLAMing on 26.431652532 meters 0.2715085565429451 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99999203e-01 -7.03393747e-04 -1.04825455e-03 -5.89502689e-01] [ 7.05138096e-04 9.99998366e-01 1.66461088e-03 -9.02529517e-01] [ 1.04708196e-03 -1.66534872e-03 9.99998065e-01 3.56625106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461652532 meters 0.27078563524049354 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99998543e-01 -8.99836695e-04 -1.45077617e-03 -5.88367833e-01] [ 9.01946347e-04 9.99998536e-01 1.45415617e-03 -9.01886376e-01] [ 1.44946555e-03 -1.45546257e-03 9.99997890e-01 3.55457321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491652532 meters 0.2712069849500382 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99998062e-01 -9.54056731e-04 -1.72188106e-03 -5.87626111e-01] [ 9.56543707e-04 9.99998500e-01 1.44409197e-03 -9.01853992e-01] [ 1.72050073e-03 -1.44573623e-03 9.99997475e-01 3.55059708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521652532 meters 0.27052090981437316 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.04 [[ 9.99997181e-01 -8.82236399e-04 -2.20449136e-03 -5.86675987e-01] [ 8.86152736e-04 9.99998030e-01 1.77618166e-03 -9.02798215e-01] [ 2.20292001e-03 -1.77813017e-03 9.99995993e-01 3.59395919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551652532000002 meters 0.2671630051756041 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99999204 -0.00164558 -0.00363454 -0.58306786] [ 0.00165059 0.99999769 0.00137697 -0.90199415] [ 0.00363226 -0.00138295 0.99999245 0.03623344] [ 0. 0. 0. 1. ]] SLAMing on 26.581652532 meters 0.27073664221928345 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99998987 -0.00191848 -0.00407264 -0.58184347] [ 0.00192288 0.99999757 0.00107637 -0.90108558] [ 0.00407057 -0.00108419 0.99999113 0.03612451] [ 0. 0. 0. 1. ]] SLAMing on 26.611652532 meters 0.26513617399448064 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99988958e-01 -2.12090726e-03 -4.19342535e-03 -5.81147848e-01] [ 2.12417057e-03 9.99997444e-01 7.73896677e-04 -9.00244922e-01] [ 4.19177327e-03 -7.82795683e-04 9.99990908e-01 3.55796258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641652532000002 meters 0.2675440788657646 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99989131e-01 -2.35714107e-03 -4.02274515e-03 -5.81302529e-01] [ 2.35855000e-03 9.99997159e-01 3.45533021e-04 -8.98955834e-01] [ 4.02191925e-03 -3.55017111e-04 9.99991849e-01 3.52252964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671652532 meters 0.26310654118662796 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99986480e-01 -2.36529177e-03 -4.63093423e-03 -5.79844805e-01] [ 2.36806114e-03 9.99997021e-01 5.92623116e-04 -8.99729347e-01] [ 4.62951870e-03 -6.03581439e-04 9.99989102e-01 3.54209019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701652532 meters 0.2604392480590169 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 9.99980266e-01 -2.63145497e-03 -5.70469581e-03 -5.77519112e-01] [ 2.63602169e-03 9.99996211e-01 7.93147819e-04 -9.00359019e-01] [ 5.70258706e-03 -8.08169869e-04 9.99983414e-01 3.61334955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731652532000002 meters 0.2574225679999486 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99995526 -0.00697703 -0.00638672 -0.57634112] [ 0.00695632 0.99997049 -0.00325983 -0.90102407] [ 0.00640927 0.00321526 0.99997429 0.03708929] [ 0. 0. 0. 1. ]] SLAMing on 26.761652532 meters 0.2554810370942237 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99995287 -0.00670082 -0.00702502 -0.57529162] [ 0.00668283 0.99997434 -0.00258109 -0.90296793] [ 0.00704214 0.00253402 0.99997199 0.03789976] [ 0. 0. 0. 1. ]] SLAMing on 26.791652532 meters 0.2535490317634954 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99995494 -0.00612763 -0.00725067 -0.57604482] [ 0.00611668 0.99998012 -0.00153195 -0.90565539] [ 0.00725991 0.00148753 0.99997254 0.03968241] [ 0. 0. 0. 1. ]] SLAMing on 26.821652532 meters 0.2530184606346939 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99995814 -0.00588313 -0.00700805 -0.57678484] [ 0.00587485 0.99998202 -0.00120092 -0.90670821] [ 0.00701499 0.0011597 0.99997472 0.03979615] [ 0. 0. 0. 1. ]] SLAMing on 26.851652532 meters 0.25195024360007884 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.9999527 -0.00615535 -0.00753013 -0.57554312] [ 0.00614446 0.99998004 -0.00146851 -0.90588406] [ 0.00753901 0.00142217 0.99997057 0.03994514] [ 0. 0. 0. 1. ]] SLAMing on 26.881652532 meters 0.2523392928136752 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.90, Z:0.04 [[ 0.99994853 -0.00641886 -0.00785782 -0.57453476] [ 0.00640472 0.99997783 -0.00182308 -0.90481803] [ 0.00786935 0.00177266 0.99996746 0.03973238] [ 0. 0. 0. 1. ]] SLAMing on 26.911652532 meters 0.2508357627511838 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.90, Z:0.04 [[ 0.9999495 -0.00640314 -0.00774565 -0.57470011] [ 0.00638914 0.99997791 -0.00183019 -0.90484007] [ 0.0077572 0.00178061 0.99996833 0.0395323 ] [ 0. 0. 0. 1. ]] SLAMing on 26.941652532 meters 0.250401997257966 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.9999523 -0.00620654 -0.00754228 -0.57564178] [ 0.00619508 0.99997962 -0.00154154 -0.90560506] [ 0.00755169 0.00149474 0.99997037 0.04011168] [ 0. 0. 0. 1. ]] SLAMing on 26.971652532 meters 0.25176446233734723 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 9.99956313e-01 -5.79560974e-03 -7.33368224e-03 -5.76455525e-01] [ 5.78894104e-03 9.99982811e-01 -9.30225333e-04 -9.07430033e-01] [ 7.33894741e-03 8.87730441e-04 9.99972676e-01 4.04355994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001652532 meters 0.2585931829449263 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 9.99960548e-01 -5.57428425e-03 -6.91594725e-03 -5.77517555e-01] [ 5.56967457e-03 9.99984254e-01 -6.85611265e-04 -9.08243600e-01] [ 6.91966014e-03 6.47064640e-04 9.99975850e-01 4.03805058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031652532 meters 0.25825139345906256 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997837 -0.00132485 -0.00644227 -0.57847976] [ 0.0013462 0.99999361 0.00331082 -0.90729597] [ 0.00643784 -0.00331942 0.99997377 0.04000166] [ 0. 0. 0. 1. ]] SLAMing on 27.061652532 meters 0.25753060423450097 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998352 -0.00125265 -0.00560258 -0.5803473 ] [ 0.00127034 0.99999422 0.00315401 -0.90692687] [ 0.00559859 -0.00316107 0.99997933 0.03960763] [ 0. 0. 0. 1. ]] SLAMing on 27.091652532 meters 0.2597041603122162 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998835 -0.00103911 -0.00471329 -0.58231623] [ 0.00105409 0.9999944 0.00317652 -0.90708303] [ 0.00470997 -0.00318146 0.99998385 0.03917415] [ 0. 0. 0. 1. ]] SLAMing on 27.121652532 meters 0.26068056039461 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 9.99990108e-01 -9.32250051e-04 -4.34902397e-03 -5.83160197e-01] [ 9.46378238e-04 9.99994279e-01 3.24766197e-03 -9.07376056e-01] [ 4.34597146e-03 -3.25174567e-03 9.99985269e-01 3.90254555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151652532 meters 0.26708011029029294 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 9.99992162e-01 -6.37894368e-04 -3.90743344e-03 -5.83741536e-01] [ 6.51492267e-04 9.99993734e-01 3.47972407e-03 -9.08209775e-01] [ 3.90518926e-03 -3.48224246e-03 9.99986312e-01 3.81596909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181652532 meters 0.2614854867596957 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99999019 -0.00109996 -0.00429139 -0.58267902] [ 0.00111226 0.99999528 0.0028656 -0.90641378] [ 0.00428822 -0.00287035 0.99998669 0.03814738] [ 0. 0. 0. 1. ]] SLAMing on 27.211652532 meters 0.26087209129536143 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99999005 -0.00130018 -0.00426763 -0.58279009] [ 0.00131098 0.99999594 0.00252811 -0.9053272 ] [ 0.00426432 -0.00253368 0.9999877 0.03825698] [ 0. 0. 0. 1. ]] SLAMing on 27.241652532 meters 0.26412332338897143 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998612 0.00314954 -0.00422333 -0.58252254] [-0.00311989 0.99997057 0.00700959 -0.90593721] [ 0.00424529 -0.00699632 0.99996651 0.03771176] [ 0. 0. 0. 1. ]] SLAMing on 27.271652532 meters 0.26568178017351635 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998815 0.00324233 -0.00363129 -0.58390463] [-0.00321693 0.99997046 0.00698116 -0.90592985] [ 0.00365382 -0.0069694 0.99996904 0.0375266 ] [ 0. 0. 0. 1. ]] SLAMing on 27.301652532000002 meters 0.2673559925188057 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 0.99998974 0.00344307 -0.00294415 -0.58527788] [-0.00342217 0.99996911 0.00707621 -0.90639836] [ 0.00296842 -0.00706606 0.99997063 0.03693977] [ 0. 0. 0. 1. ]] SLAMing on 27.331652532 meters 0.27109277004853005 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 0.99999032 0.00375871 -0.0022857 -0.58656086] [-0.00374168 0.99996553 0.00741199 -0.90758015] [ 0.00231348 -0.00740336 0.99996992 0.0363055 ] [ 0. 0. 0. 1. ]] SLAMing on 27.361652532 meters 0.26827666722141896 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99998612e-01 -5.09567604e-04 -1.58612853e-03 -5.88247804e-01] [ 5.14277814e-04 9.99995455e-01 2.97063708e-03 -9.07312449e-01] [ 1.58460758e-03 -2.97144866e-03 9.99994330e-01 3.61417822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391652532000002 meters 0.2776314291568083 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99999030e-01 -3.30531431e-04 -1.35333343e-03 -5.88707803e-01] [ 3.34859418e-04 9.99994827e-01 3.19904375e-03 -9.08123035e-01] [ 1.35226904e-03 -3.19949382e-03 9.99993967e-01 3.59137684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421652532 meters 0.2704734802864207 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99999080e-01 -3.88226162e-04 -1.29949195e-03 -5.88693205e-01] [ 3.92230833e-04 9.99995171e-01 3.08288571e-03 -9.07815549e-01] [ 1.29828882e-03 -3.08339258e-03 9.99994404e-01 3.57166539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451652532 meters 0.2751445116785158 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99999148e-01 -4.28885196e-04 -1.23316953e-03 -5.88704662e-01] [ 4.32579228e-04 9.99995416e-01 2.99685373e-03 -9.07602256e-01] [ 1.23187857e-03 -2.99738461e-03 9.99994749e-01 3.55010832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481652532000002 meters 0.2757445733795461 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99998003e-01 -7.48702048e-04 -1.85275022e-03 -5.87056278e-01] [ 7.53701283e-04 9.99996074e-01 2.69905221e-03 -9.06759542e-01] [ 1.85072216e-03 -2.70044324e-03 9.99994641e-01 3.55189334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511652532 meters 0.27344581167597826 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99997288e-01 -6.32710239e-04 -2.24147846e-03 -5.86210494e-01] [ 6.39504581e-04 9.99995200e-01 3.03176910e-03 -9.07766445e-01] [ 2.23954947e-03 -3.03319432e-03 9.99992892e-01 3.57299835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541652532 meters 0.26714952474862136 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.04 [[ 9.99996445e-01 -5.40150734e-04 -2.61134420e-03 -5.85493249e-01] [ 5.48822546e-04 9.99994334e-01 3.32124795e-03 -9.08603129e-01] [ 2.60953543e-03 -3.32266931e-03 9.99991075e-01 3.60829031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571652532 meters 0.2661428128515472 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 9.99995571e-01 -4.54707791e-04 -2.94117602e-03 -5.84697897e-01] [ 4.65225599e-04 9.99993497e-01 3.57636018e-03 -9.09403675e-01] [ 2.93953069e-03 -3.57771265e-03 9.99989280e-01 3.61640572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601652532 meters 0.2675858687397303 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.9999904 -0.00132727 -0.00417571 -0.58116332] [ 0.00134007 0.9999944 0.00306618 -0.90860756] [ 0.00417162 -0.00307174 0.99998658 0.03581915] [ 0. 0. 0. 1. ]] SLAMing on 27.631652532 meters 0.262302812061252 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998796 -0.00167403 -0.00461183 -0.57989219] [ 0.00168624 0.99999508 0.00264393 -0.90739199] [ 0.00460738 -0.00265167 0.99998587 0.03565211] [ 0. 0. 0. 1. ]] SLAMing on 27.661652532 meters 0.2600841939259623 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998626 -0.00182312 -0.00491455 -0.57891449] [ 0.00183545 0.99999517 0.00250707 -0.90703172] [ 0.00490996 -0.00251606 0.99998478 0.03540176] [ 0. 0. 0. 1. ]] SLAMing on 27.691652532 meters 0.2600841939259623 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998626 -0.00182312 -0.00491455 -0.57891449] [ 0.00183545 0.99999517 0.00250707 -0.90703172] [ 0.00490996 -0.00251606 0.99998478 0.03540176] [ 0. 0. 0. 1. ]] SLAMing on 27.721652532 meters 0.25826611940444116 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.03 [[ 0.99998039 -0.00279133 -0.00560697 -0.57650969] [ 0.00279872 0.99999522 0.00131149 -0.90416222] [ 0.00560328 -0.00132716 0.99998342 0.0346307 ] [ 0. 0. 0. 1. ]] SLAMing on 27.751652532 meters 0.25539739668079947 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.04 [[ 0.99997756 -0.00282743 -0.00607265 -0.57583436] [ 0.00283653 0.99999487 0.00149105 -0.90455223] [ 0.0060684 -0.00150824 0.99998045 0.03545959] [ 0. 0. 0. 1. ]] SLAMing on 27.781652532 meters 0.25402095106583056 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.9999764 -0.00268212 -0.0063251 -0.57578948] [ 0.00269381 0.99999468 0.00183919 -0.90541496] [ 0.00632014 -0.00185619 0.9999783 0.03635189] [ 0. 0. 0. 1. ]] SLAMing on 27.811652532 meters 0.2533427022350989 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997602 -0.00247204 -0.0064689 -0.5758883 ] [ 0.00248663 0.99999438 0.00224816 -0.90655201] [ 0.00646331 -0.00226419 0.99997655 0.03703062] [ 0. 0. 0. 1. ]] SLAMing on 27.841652532 meters 0.2529517021044415 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997533 -0.00233639 -0.00662427 -0.57600461] [ 0.00235322 0.99999402 0.00253455 -0.90725522] [ 0.00661831 -0.00255008 0.99997485 0.03778628] [ 0. 0. 0. 1. ]] SLAMing on 27.871652532 meters 0.25052857712564164 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997287 -0.0024383 -0.00695075 -0.57556578] [ 0.00245607 0.99999373 0.00254972 -0.90718365] [ 0.00694449 -0.00256672 0.99997259 0.03850194] [ 0. 0. 0. 1. ]] SLAMing on 27.901652532 meters 0.25144080554117326 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.91, Z:0.04 [[ 0.99997114 -0.00251702 -0.00716888 -0.57499571] [ 0.00253491 0.99999369 0.0024878 -0.90698311] [ 0.00716258 -0.0025059 0.99997121 0.0385186 ] [ 0. 0. 0. 1. ]] SLAMing on 27.931652532 meters 0.2497246192326385 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.91, Z:0.04 [[ 0.99997039 -0.00248028 -0.0072851 -0.5745957 ] [ 0.00249923 0.99999352 0.00259298 -0.90735868] [ 0.00727862 -0.00261112 0.9999701 0.03837295] [ 0. 0. 0. 1. ]] SLAMing on 27.961652532 meters 0.2480827922014553 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.91, Z:0.04 [[ 0.99996653 -0.0026774 -0.00773148 -0.57340079] [ 0.00269625 0.99999341 0.00242931 -0.90687245] [ 0.00772493 -0.00245007 0.99996716 0.03836514] [ 0. 0. 0. 1. ]] SLAMing on 27.991652532 meters 0.24756920281870382 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.90, Z:0.04 [[ 0.99996199 -0.00316718 -0.00812332 -0.57205716] [ 0.0031815 0.99999341 0.00175153 -0.90496072] [ 0.00811772 -0.00177731 0.99996547 0.03795523] [ 0. 0. 0. 1. ]] SLAMing on 28.021652532 meters 0.25050857583426306 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.91, Z:0.04 [[ 0.99996769 -0.00304164 -0.00744081 -0.57341112] [ 0.00305455 0.99999385 0.00172407 -0.90504644] [ 0.00743552 -0.00174674 0.99997083 0.03735836] [ 0. 0. 0. 1. ]] SLAMing on 28.051652532000002 meters 0.25130620982863733 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.91, Z:0.04 [[ 0.9999694 -0.00300344 -0.00722367 -0.5737676 ] [ 0.00301593 0.99999398 0.00171843 -0.9051309 ] [ 0.00721846 -0.00174016 0.99997243 0.03706162] [ 0. 0. 0. 1. ]] SLAMing on 28.081652532 meters 0.24947817874986222 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997294 -0.0028255 -0.00679286 -0.57531559] [ 0.00283846 0.99999417 0.0018988 -0.90552628] [ 0.00678745 -0.00191803 0.99997513 0.03771459] [ 0. 0. 0. 1. ]] SLAMing on 28.111652532 meters 0.2503711466460641 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997637 -0.00257049 -0.00637603 -0.5764111 ] [ 0.00258448 0.99999427 0.00218736 -0.90644831] [ 0.00637037 -0.00220378 0.99997728 0.03771909] [ 0. 0. 0. 1. ]] SLAMing on 28.141652532000002 meters 0.25126616974679195 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.9999773 -0.00255532 -0.0062344 -0.57651712] [ 0.00256887 0.99999435 0.00216689 -0.90649261] [ 0.00622883 -0.00218285 0.99997822 0.03734499] [ 0. 0. 0. 1. ]] SLAMing on 28.171652532 meters 0.2532974146827441 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99997936 -0.00251701 -0.00591106 -0.57689665] [ 0.00252952 0.99999458 0.00210923 -0.90652686] [ 0.00590572 -0.00212414 0.99998031 0.03667451] [ 0. 0. 0. 1. ]] SLAMing on 28.201652532 meters 0.2546842554329005 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998058 -0.00270533 -0.00561358 -0.57705401] [ 0.00271494 0.99999486 0.00170581 -0.90547233] [ 0.00560894 -0.00172102 0.99998279 0.03582794] [ 0. 0. 0. 1. ]] SLAMing on 28.231652532000002 meters 0.25998858712424294 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998299 -0.00245699 -0.00528923 -0.5778118 ] [ 0.00246766 0.99999493 0.0020128 -0.90653656] [ 0.00528426 -0.00202581 0.99998399 0.03569543] [ 0. 0. 0. 1. ]] SLAMing on 28.261652532 meters 0.258261935097111 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998472 -0.00232125 -0.0050166 -0.57858869] [ 0.00233205 0.99999498 0.00214716 -0.90696049] [ 0.00501159 -0.00215882 0.99998511 0.03578825] [ 0. 0. 0. 1. ]] SLAMing on 28.291652532 meters 0.2630545399827171 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.04 [[ 0.99998853 -0.00206573 -0.00432142 -0.58022682] [ 0.00207581 0.99999513 0.00232974 -0.90760879] [ 0.00431658 -0.00233869 0.99998795 0.03553988] [ 0. 0. 0. 1. ]] SLAMing on 28.321652532 meters 0.260048735674581 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999325 -0.00195696 -0.00310895 -0.582498 ] [ 0.00196277 0.99999633 0.00186744 -0.90641903] [ 0.00310529 -0.00187352 0.99999342 0.03428203] [ 0. 0. 0. 1. ]] SLAMing on 28.351652532 meters 0.2615879278226857 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.9999941 -0.00195626 -0.00282478 -0.58298831] [ 0.00196128 0.9999965 0.00177477 -0.90625106] [ 0.0028213 -0.0017803 0.99999444 0.03394494] [ 0. 0. 0. 1. ]] SLAMing on 28.381652532 meters 0.258726790754254 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999452 -0.00187607 -0.00272871 -0.58329964] [ 0.00188122 0.99999645 0.00188448 -0.90659866] [ 0.00272517 -0.00188961 0.9999945 0.03402185] [ 0. 0. 0. 1. ]] SLAMing on 28.411652532 meters 0.2611024916396289 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999328 0.00220038 -0.00293192 -0.58262172] [-0.00218324 0.9999806 0.0058341 -0.90540559] [ 0.0029447 -0.00582766 0.99997868 0.03387885] [ 0. 0. 0. 1. ]] SLAMing on 28.441652532 meters 0.2641131388099035 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999429 0.00259476 -0.00216621 -0.58450924] [-0.00258115 0.99997707 0.00626122 -0.90674664] [ 0.00218241 -0.0062556 0.99997805 0.03377517] [ 0. 0. 0. 1. ]] SLAMing on 28.471652532 meters 0.2625801003023588 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999412 0.00251395 -0.00233438 -0.58433861] [-0.00249945 0.99997771 0.00619198 -0.90641251] [ 0.0023499 -0.00618611 0.9999781 0.03420066] [ 0. 0. 0. 1. ]] SLAMing on 28.501652532 meters 0.26034048810487687 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.99999425 0.00238265 -0.00241434 -0.58396018] [-0.00236811 0.99997915 0.0060071 -0.90587528] [ 0.0024286 -0.00600134 0.99997904 0.03399268] [ 0. 0. 0. 1. ]] SLAMing on 28.531652532 meters 0.26187421830821844 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.91, Z:0.03 [[ 0.9999947 0.00238658 -0.00221554 -0.58401471] [-0.00237337 0.99997951 0.0059445 -0.9058719 ] [ 0.00222968 -0.00593921 0.99997988 0.03331897] [ 0. 0. 0. 1. ]] SLAMing on 28.561652532 meters 0.2614882272651259 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.90, Z:0.03 [[ 0.99999556 0.00217317 -0.00203719 -0.58415764] [-0.00216187 0.99998236 0.00553148 -0.90464955] [ 0.00204918 -0.00552705 0.99998263 0.0328963 ] [ 0. 0. 0. 1. ]] SLAMing on 28.591652532 meters 0.2644495070158815 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.03 [[ 9.99995735e-01 2.77356000e-03 -9.15466713e-04 -5.86834192e-01] [-2.76800594e-03 9.99978088e-01 6.01343091e-03 -9.05901259e-01] [ 9.32125264e-04 -6.01087124e-03 9.99981500e-01 3.26675068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621652532 meters 0.26309857412137766 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.03 [[ 9.99996001e-01 2.71497991e-03 -7.92058334e-04 -5.87469582e-01] [-2.71027349e-03 9.99979018e-01 5.88377215e-03 -9.05365768e-01] [ 8.08016038e-04 -5.88160192e-03 9.99982377e-01 3.31610401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651652532 meters 0.2672712186560031 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.03 [[ 9.99995651e-01 2.94914350e-03 -3.01155964e-05 -5.89157138e-01] [-2.94890949e-03 9.99977623e-01 6.00481997e-03 -9.05887051e-01] [ 4.78239982e-05 -6.00470505e-03 9.99981970e-01 3.27775914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681652532 meters 0.2661819418143393 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.03 [[ 9.99995126e-01 3.07983390e-03 5.12659018e-04 -5.90268506e-01] [-3.08288478e-03 9.99976882e-01 6.06065688e-03 -9.06192873e-01] [-4.93981350e-04 -6.06220781e-03 9.99981503e-01 3.23357383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711652532 meters 0.2702918662178379 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.90, Z:0.03 [[ 0.99999462 0.00295519 0.00142483 -0.59164522] [-0.00296277 0.99998133 0.00534494 -0.90438187] [-0.00140901 -0.00534913 0.9999847 0.03092766] [ 0. 0. 0. 1. ]] SLAMing on 28.741652532 meters 0.2717498234705852 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.91, Z:0.03 [[ 0.99999144 0.00336023 0.00241416 -0.59381005] [-0.00337366 0.99997872 0.00558366 -0.90524403] [-0.00239534 -0.00559176 0.9999815 0.03034946] [ 0. 0. 0. 1. ]] SLAMing on 28.771652532 meters 0.2793495052886742 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.90, Z:0.03 [[ 0.99996536 0.00762973 0.00332541 -0.59555828] [-0.0076607 0.99992648 0.00939979 -0.90387252] [-0.00325345 -0.00942493 0.99995029 0.02965789] [ 0. 0. 0. 1. ]] SLAMing on 28.801652532 meters 0.2823387749770069 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.91, Z:0.03 [[ 0.99993672 0.00993218 0.0052822 -0.60049442] [-0.00999022 0.99988872 0.01107866 -0.90702241] [-0.00517158 -0.01113073 0.99992468 0.02964249] [ 0. 0. 0. 1. ]] SLAMing on 28.831652532 meters 0.28907937156650676 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.91, Z:0.03 [[ 0.99988258 0.0136744 0.00691629 -0.605823 ] [-0.01377133 0.9998048 0.01416696 -0.91135736] [-0.00672122 -0.01426054 0.99987572 0.03076151] [ 0. 0. 0. 1. ]] SLAMing on 28.861652532 meters 0.2951364031203012 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.92, Z:0.03 [[ 0.99981404 0.01710331 0.00890809 -0.61153609] [-0.01725015 0.99971213 0.01667614 -0.91510885] [-0.00862031 -0.0168267 0.99982126 0.03122462] [ 0. 0. 0. 1. ]] SLAMing on 28.891652532000002 meters 0.3000731648375992 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.92, Z:0.03 [[ 0.99972613 0.02070425 0.01090843 -0.61690537] [-0.0209139 0.99959169 0.01946933 -0.91967227] [-0.01050088 -0.01969214 0.99975094 0.03144746] [ 0. 0. 0. 1. ]] SLAMing on 28.921652532 meters 0.3148543045936788 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.93, Z:0.03 [[ 0.99933675 0.03244437 0.01653551 -0.62925204] [-0.03287839 0.99910294 0.02668929 -0.92947778] [-0.01565476 -0.02721525 0.99950701 0.02735539] [ 0. 0. 0. 1. ]] SLAMing on 28.951652532 meters 0.31658052773579004 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.93, Z:0.03 [[ 0.99930769 0.03297318 0.01723125 -0.63103237] [-0.03343775 0.99906496 0.02740648 -0.93174541] [-0.01631146 -0.02796368 0.99947585 0.02744471] [ 0. 0. 0. 1. ]] SLAMing on 28.981652532000002 meters 0.31685336674824155 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.94, Z:0.03 [[ 0.99938323 0.03000131 0.01825026 -0.63447168] [-0.03044721 0.99923198 0.02466608 -0.93573728] [-0.01749623 -0.02520653 0.99952915 0.02851663] [ 0. 0. 0. 1. ]] SLAMing on 29.011652532 meters 0.3142914973786232 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.94, Z:0.03 [[ 0.99947283 0.02656373 0.01866642 -0.6360138 ] [-0.02696385 0.99940472 0.02152095 -0.93932937] [-0.01808363 -0.02201293 0.99959412 0.02892803] [ 0. 0. 0. 1. ]] SLAMing on 29.041652532 meters 0.3185097535625018 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.94, Z:0.03 [[ 0.99954764 0.02291053 0.01948398 -0.63793555] [-0.02325971 0.99956941 0.01788772 -0.94162206] [-0.01906578 -0.01833282 0.99965014 0.02832986] [ 0. 0. 0. 1. ]] SLAMing on 29.071652532 meters 0.31590804261681293 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.94, Z:0.03 [[ 0.9996186 0.0189022 0.02013362 -0.63947009] [-0.01918078 0.99972169 0.01373451 -0.94240946] [-0.01986841 -0.01411545 0.99970296 0.02782461] [ 0. 0. 0. 1. ]] SLAMing on 29.101652532 meters 0.31002081028530937 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99982143 0.01810206 0.0054237 -0.6360222 ] [-0.01817189 0.99974885 0.01311547 -0.95021568] [-0.00518492 -0.01321168 0.99989928 0.02951899] [ 0. 0. 0. 1. ]] SLAMing on 29.131652532 meters 0.310088158903103 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99989021 0.01400878 0.00482952 -0.63545347] [-0.01405374 0.99985701 0.00940486 -0.95194424] [-0.00469708 -0.0094717 0.99994411 0.03062826] [ 0. 0. 0. 1. ]] SLAMing on 29.161652532 meters 0.3056386488989153 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99993419 0.01014058 0.00536563 -0.63719747] [-0.01017086 0.99993233 0.0056465 -0.95368812] [-0.00530801 -0.0057007 0.99996966 0.03101606] [ 0. 0. 0. 1. ]] SLAMing on 29.191652532 meters 0.3041597320939403 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99993621 0.00998041 0.00528779 -0.63697126] [-0.01000901 0.99993527 0.00540994 -0.95291841] [-0.00523345 -0.00546253 0.99997139 0.03103267] [ 0. 0. 0. 1. ]] SLAMing on 29.221652532 meters 0.30225909794658995 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99996176 0.00617676 0.0061912 -0.6393233 ] [-0.00618685 0.99997956 0.00161248 -0.95449508] [-0.00618111 -0.00165072 0.99997953 0.03099832] [ 0. 0. 0. 1. ]] SLAMing on 29.251652532 meters 0.30156818056854656 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99996307 0.00590072 0.00624875 -0.63910272] [-0.00590795 0.9999819 0.00113901 -0.95304364] [-0.00624191 -0.00117589 0.99997983 0.03053809] [ 0. 0. 0. 1. ]] SLAMing on 29.281652532 meters 0.2966710330591905 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.9999784 0.00169478 0.00635006 -0.63973571] [-0.00167545 0.99999395 -0.00304918 -0.95344557] [-0.00635519 0.00303847 0.99997519 0.03100146] [ 0. 0. 0. 1. ]] SLAMing on 29.311652532 meters 0.29842633562080645 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.95, Z:0.03 [[ 0.99998074 0.00182148 0.00593236 -0.63899951] [-0.0018054 0.99999469 -0.00271451 -0.95440094] [-0.00593727 0.00270374 0.99997872 0.03143332] [ 0. 0. 0. 1. ]] SLAMing on 29.341652532 meters 0.29421207655759063 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 0.99998346 0.00199535 0.00539391 -0.63815586] [-0.00198343 0.99999558 -0.002214 -0.95578417] [-0.00539831 0.00220326 0.999983 0.03216559] [ 0. 0. 0. 1. ]] SLAMing on 29.371652532 meters 0.29313153978042167 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 0.99998418 0.00195304 0.00527551 -0.63825455] [-0.00194121 0.99999559 -0.00224686 -0.95553294] [-0.00527988 0.00223658 0.99998356 0.03275201] [ 0. 0. 0. 1. ]] SLAMing on 29.401652532 meters 0.30020040668428843 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99971602e-01 3.58231134e-03 6.63040148e-03 -6.41948300e-01] [-3.57656238e-03 9.99993218e-01 -8.78714825e-04 -9.58191994e-01] [-6.63350434e-03 8.54975827e-04 9.99977633e-01 3.30888245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431652532 meters 0.29823850918882205 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99965455e-01 3.76038573e-03 7.41270092e-03 -6.43709250e-01] [-3.75417131e-03 9.99992590e-01 -8.52083679e-04 -9.58367863e-01] [-7.41585015e-03 8.24225694e-04 9.99972163e-01 3.27246223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461652532 meters 0.31233286875848104 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 9.99959185e-01 3.97148259e-03 8.11510087e-03 -6.45364727e-01] [-3.96549444e-03 9.99991853e-01 -7.53859942e-04 -9.58760638e-01] [-8.11802870e-03 7.21648786e-04 9.99966788e-01 3.24954140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491652532 meters 0.3029082398148438 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 9.99950413e-01 4.50982264e-03 8.87878880e-03 -6.47493182e-01] [-4.50910533e-03 9.99989829e-01 -1.00804681e-04 -9.60663879e-01] [-8.87915311e-03 6.07642881e-05 9.99960578e-01 3.27496798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521652532 meters 0.30368171992844195 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 9.99952148e-01 4.63818274e-03 8.61325818e-03 -6.47889226e-01] [-4.64042273e-03 9.99989204e-01 2.40096785e-04 -9.61391407e-01] [-8.61205158e-03 -2.80054455e-04 9.99962876e-01 3.43243341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551652532 meters 0.3015345175621966 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 9.99956064e-01 4.98179128e-03 7.94045926e-03 -6.46663025e-01] [-4.98986465e-03 9.99987053e-01 9.97252457e-04 -9.63690089e-01] [-7.93538836e-03 -1.03683046e-03 9.99967977e-01 3.49303080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581652532 meters 0.3015345175621966 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 9.99956064e-01 4.98179128e-03 7.94045926e-03 -6.46663025e-01] [-4.98986465e-03 9.99987053e-01 9.97252457e-04 -9.63690089e-01] [-7.93538836e-03 -1.03683046e-03 9.99967977e-01 3.49303080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611652532 meters 0.31236390743403314 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.04 [[ 0.99995981 0.00510269 0.00737101 -0.64541222] [-0.00511285 0.999986 0.00136051 -0.96477214] [-0.00736397 -0.00139814 0.99997191 0.03516843] [ 0. 0. 0. 1. ]] SLAMing on 29.641652532000002 meters 0.30186315108295486 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99961406e-01 4.77615408e-03 7.37392082e-03 -6.44617818e-01] [-4.78219409e-03 9.99988244e-01 8.01690133e-04 -9.63226397e-01] [-7.37000514e-03 -8.36922713e-04 9.99972491e-01 3.40497207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671652532 meters 0.3021090571331892 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99962653e-01 4.65521135e-03 7.28152899e-03 -6.44185588e-01] [-4.65989656e-03 9.99988946e-01 6.26603323e-04 -9.62679905e-01] [-7.27853153e-03 -6.60511094e-04 9.99973293e-01 3.37651760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701652532 meters 0.3038035636221604 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99964381e-01 4.36085780e-03 7.22633876e-03 -6.43744218e-01] [-4.36210691e-03 9.99990474e-01 1.57103707e-04 -9.61215063e-01] [-7.22558481e-03 -1.88620174e-04 9.99973877e-01 3.33827779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731652532000002 meters 0.30206349741208094 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99965998e-01 4.18031932e-03 7.10825126e-03 -6.42635469e-01] [-4.17963343e-03 9.99991259e-01 -1.11344888e-04 -9.60639916e-01] [-7.10865458e-03 8.16312178e-05 9.99974730e-01 3.22281029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761652532 meters 0.3025007775021443 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99963195e-01 4.28081035e-03 7.43523747e-03 -6.43429661e-01] [-4.28050195e-03 9.99990837e-01 -5.73904353e-05 -9.60852808e-01] [-7.43541502e-03 2.55617746e-05 9.99972357e-01 3.21294954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791652532 meters 0.30502657282373974 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.96, Z:0.03 [[ 9.99958040e-01 4.51612526e-03 7.97012955e-03 -6.44786281e-01] [-4.51765674e-03 9.99989780e-01 1.74158985e-04 -9.61617238e-01] [-7.96926158e-03 -2.10157987e-04 9.99968223e-01 3.21089978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821652532 meters 0.3111941141168093 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 0.99994764 0.00524432 0.00878735 -0.64729063] [-0.00525409 0.9999856 0.00108884 -0.96408189] [-0.00878152 -0.00113495 0.9999608 0.0327817 ] [ 0. 0. 0. 1. ]] SLAMing on 29.851652532 meters 0.31483175814316444 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.96, Z:0.03 [[ 0.99989384 0.01007853 0.01052258 -0.65152714] [-0.01013626 0.99993379 0.00544806 -0.96397926] [-0.01046697 -0.00555414 0.99992979 0.03279908] [ 0. 0. 0. 1. ]] SLAMing on 29.881652532 meters 0.31843128864889625 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.99986142 0.01138222 0.01214879 -0.65530479] [-0.01145839 0.99991501 0.00621911 -0.96567594] [-0.01207697 -0.00635745 0.99990686 0.0322276 ] [ 0. 0. 0. 1. ]] SLAMing on 29.911652532 meters 0.32403972905948825 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.99983631 0.0122939 0.01327439 -0.65776572] [-0.01238671 0.99989925 0.00693203 -0.96748633] [-0.01318783 -0.00709532 0.99988786 0.03154352] [ 0. 0. 0. 1. ]] SLAMing on 29.941652532 meters 0.3230802336757652 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.99983279 0.01217432 0.0136446 -0.65854246] [-0.0122655 0.99990287 0.00661889 -0.96653778] [-0.0135627 -0.00678514 0.999885 0.03134926] [ 0. 0. 0. 1. ]] SLAMing on 29.971652532 meters 0.32858807137734847 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.9998141 0.01275045 0.0144632 -0.6605423 ] [-0.01285445 0.99989202 0.00712117 -0.96798088] [-0.01437084 -0.00730576 0.99987004 0.03121821] [ 0. 0. 0. 1. ]] SLAMing on 30.001652532 meters 0.3363924973451354 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.99979788 0.01312856 0.01522652 -0.66224128] [-0.01324381 0.99988422 0.0074933 -0.96928185] [-0.01512639 -0.00769344 0.99985599 0.03085464] [ 0. 0. 0. 1. ]] SLAMing on 30.031652532 meters 0.3322452312659138 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.9997769 0.01364818 0.01612083 -0.66414163] [-0.01377889 0.99987286 0.00802546 -0.97101429] [-0.01600925 -0.00824579 0.99983784 0.03031691] [ 0. 0. 0. 1. ]] SLAMing on 30.061652532 meters 0.3288942871027737 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 0.99980022 0.0097064 0.01747299 -0.66766297] [-0.00977375 0.99994512 0.00377325 -0.97111283] [-0.0174354 -0.00394327 0.99984022 0.03036855] [ 0. 0. 0. 1. ]] SLAMing on 30.091652532 meters 0.33052088825469544 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 0.99979898 0.00941714 0.01770069 -0.6681805 ] [-0.00947595 0.99994985 0.00324161 -0.96939599] [-0.01766928 -0.00340869 0.99983808 0.03037652] [ 0. 0. 0. 1. ]] SLAMing on 30.121652532 meters 0.33499661799100444 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 0.99979538 0.00975352 0.01772191 -0.6677139 ] [-0.00982101 0.99994483 0.00372512 -0.97103678] [-0.0176846 -0.0038984 0.99983602 0.02948141] [ 0. 0. 0. 1. ]] SLAMing on 30.151652532 meters 0.3398907930101386 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 0.99978687 0.01034747 0.01786461 -0.66804872] [-0.01043202 0.99993479 0.00464634 -0.97392591] [-0.01781537 -0.00483171 0.99982962 0.02932863] [ 0. 0. 0. 1. ]] SLAMing on 30.181652532 meters 0.3467793123597953 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.98, Z:0.03 [[ 0.99978101 0.01065349 0.01801219 -0.66840556] [-0.01074721 0.99992917 0.00511472 -0.97550969] [-0.01795643 -0.00530718 0.99982468 0.02925205] [ 0. 0. 0. 1. ]] SLAMing on 30.211652532 meters 0.3431568022786577 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.98, Z:0.03 [[ 0.99977634 0.01072141 0.01822966 -0.66897911] [-0.0108177 0.99992801 0.00519175 -0.97580018] [-0.01817268 -0.0053878 0.99982035 0.0292836 ] [ 0. 0. 0. 1. ]] SLAMing on 30.241652532 meters 0.3421713284158011 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.98, Z:0.03 [[ 0.9997777 0.01075036 0.01813792 -0.66848391] [-0.01084732 0.99992735 0.00525629 -0.97609743] [-0.0180801 -0.00545187 0.99982168 0.0288811 ] [ 0. 0. 0. 1. ]] SLAMing on 30.271652532 meters 0.33884770855309193 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.98, Z:0.03 [[ 0.99978433 0.01056095 0.0178816 -0.66773164] [-0.01065223 0.99993068 0.00501748 -0.97532149] [-0.01782737 -0.00520687 0.99982752 0.02876207] [ 0. 0. 0. 1. ]] SLAMing on 30.301652532 meters 0.33826087752925094 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 9.99815590e-01 6.20234319e-03 1.81746397e-02 -6.68490723e-01] [-6.21113265e-03 9.99980619e-01 4.27203021e-04 -9.74537537e-01] [-1.81716378e-02 -5.40009339e-04 9.99834736e-01 2.86800559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331652532 meters 0.3285853426320993 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.97, Z:0.03 [[ 9.99833980e-01 5.58710447e-03 1.73435190e-02 -6.66229504e-01] [-5.58275085e-03 9.99984371e-01 -2.99428637e-04 -9.72477906e-01] [-1.73449209e-02 2.02554380e-04 9.99849545e-01 2.84227652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361652532 meters 0.32810767078099834 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 9.99859621e-01 5.08850075e-03 1.59638522e-02 -6.62846830e-01] [-5.08026417e-03 9.99986941e-01 -5.56462327e-04 -9.71759803e-01] [-1.59664753e-02 4.75283625e-04 9.99872415e-01 2.84885225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391652532000002 meters 0.32459623481617333 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 0.99986649 0.00128812 0.01628918 -0.66421359] [-0.00122 0.99999047 -0.00419142 -0.9738671 ] [-0.01629443 0.00417099 0.99985854 0.02917646] [ 0. 0. 0. 1. ]] SLAMing on 30.421652532 meters 0.322785688048857 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987628 0.00142194 0.01566519 -0.66321402] [-0.00136364 0.99999211 -0.00373197 -0.97512427] [-0.01567037 0.00371014 0.99987033 0.03001314] [ 0. 0. 0. 1. ]] SLAMing on 30.451652532 meters 0.3230071059649232 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99988817 0.00143876 0.0148854 -0.66182528] [-0.00138884 0.99999338 -0.00336363 -0.97604892] [-0.01489014 0.00334258 0.99988355 0.03087639] [ 0. 0. 0. 1. ]] SLAMing on 30.481652532000002 meters 0.3183025235035164 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99989906 0.00135988 0.01414302 -0.66044576] [-0.00131523 0.99999412 -0.00316651 -0.97649128] [-0.01414724 0.00314759 0.99989497 0.0316306 ] [ 0. 0. 0. 1. ]] SLAMing on 30.511652532 meters 0.318705900664502 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990191 0.00125019 0.01395007 -0.66002943] [-0.00120414 0.9999938 -0.00330863 -0.97597157] [-0.01395412 0.0032915 0.99989722 0.03175223] [ 0. 0. 0. 1. ]] SLAMing on 30.541652532 meters 0.3171978890646576 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990734 0.00113648 0.01356534 -0.65908334] [-0.0010904 0.99999361 -0.00340386 -0.97559098] [-0.01356912 0.00338876 0.99990219 0.03177055] [ 0. 0. 0. 1. ]] SLAMing on 30.571652532 meters 0.3144792160851471 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.97, Z:0.03 [[ 9.99916447e-01 9.09920445e-04 1.28946349e-02 -6.57911090e-01] [-8.63818059e-04 9.99993217e-01 -3.58043392e-03 -9.74842056e-01] [-1.28978053e-02 3.56899614e-03 9.99910450e-01 3.25902590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601652532 meters 0.31325670953125023 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99992021 0.00116866 0.01257847 -0.6576345 ] [-0.00113049 0.99999474 -0.0030407 -0.97643945] [-0.01258195 0.00302624 0.99991626 0.03330708] [ 0. 0. 0. 1. ]] SLAMing on 30.631652532 meters 0.3129646952271873 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99991895 0.00135061 0.01265936 -0.65799878] [-0.0013158 0.99999533 -0.00275778 -0.97735318] [-0.01266303 0.0027409 0.99991606 0.03349922] [ 0. 0. 0. 1. ]] SLAMing on 30.661652532 meters 0.31582801241672964 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 9.99895665e-01 5.42622831e-03 1.33871423e-02 -6.59174717e-01] [-5.44008047e-03 9.99984704e-01 9.98538170e-04 -9.75721844e-01] [-1.33815192e-02 -1.07126112e-03 9.99909890e-01 3.26103996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691652532 meters 0.319138305275019 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987927 0.00583515 0.01440154 -0.66149171] [-0.00585436 0.99998203 0.00129212 -0.97673951] [-0.01439374 -0.00137627 0.99989546 0.03220569] [ 0. 0. 0. 1. ]] SLAMing on 30.721652532 meters 0.3243215720859185 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.9998608 0.00631862 0.01544173 -0.66409839] [-0.00634532 0.99997846 0.00168038 -0.97778118] [-0.01543078 -0.00177813 0.99987936 0.03217795] [ 0. 0. 0. 1. ]] SLAMing on 30.751652532 meters 0.32458828963581954 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99986251 0.00629129 0.01534214 -0.66394667] [-0.00631736 0.99997868 0.00165143 -0.97763116] [-0.01533142 -0.00174813 0.99988094 0.03232087] [ 0. 0. 0. 1. ]] SLAMing on 30.781652532 meters 0.3224233388960072 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99986421 0.00639873 0.01518624 -0.66364182] [-0.00642791 0.99997759 0.0018734 -0.97832727] [-0.01517391 -0.00197077 0.99988293 0.03242257] [ 0. 0. 0. 1. ]] SLAMing on 30.811652532 meters 0.32777635331010446 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99986749 0.00645366 0.01494478 -0.66318266] [-0.00648469 0.99997692 0.00202862 -0.97876646] [-0.01493134 -0.00212527 0.99988626 0.03262269] [ 0. 0. 0. 1. ]] SLAMing on 30.841652532 meters 0.3320837031810313 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987197 0.00644475 0.01464644 -0.66246458] [-0.0064759 0.99997687 0.00208032 -0.97888518] [-0.01463269 -0.0021749 0.99989057 0.03266176] [ 0. 0. 0. 1. ]] SLAMing on 30.871652532 meters 0.32103778472734523 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99988214 0.00224882 0.01518719 -0.66324395] [-0.00221394 0.99999487 -0.00231293 -0.97892839] [-0.01519231 0.00227903 0.99988199 0.03167168] [ 0. 0. 0. 1. ]] SLAMing on 30.901652532 meters 0.32281167834564245 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99988889 0.00229328 0.01472944 -0.66209527] [-0.00226247 0.99999522 -0.00210777 -0.97955673] [-0.0147342 0.00207421 0.99988929 0.03164698] [ 0. 0. 0. 1. ]] SLAMing on 30.931652532 meters 0.32010666999009624 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99989971 0.00195107 0.01402728 -0.66069032] [-0.00191749 0.99999526 -0.00240709 -0.97848132] [-0.01403191 0.00237995 0.99989872 0.03228974] [ 0. 0. 0. 1. ]] SLAMing on 30.961652532 meters 0.31360645276341226 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99992444 0.0011437 0.01223994 -0.65679282] [-0.00111557 0.99999672 -0.00230526 -0.97903519] [-0.01224253 0.00229143 0.99992243 0.03333253] [ 0. 0. 0. 1. ]] SLAMing on 30.991652532 meters 0.3108705354036203 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 9.99939328e-01 6.85559607e-04 1.09940774e-02 -6.54020193e-01] [-6.58054561e-04 9.99996645e-01 -2.50522806e-03 -9.78373545e-01] [-1.09957580e-02 2.49784136e-03 9.99936425e-01 3.38874490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021652532 meters 0.3141078399378901 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 9.99948213e-01 2.43621105e-04 1.01740800e-02 -6.52004396e-01] [-2.13968653e-04 9.99995727e-01 -2.91549621e-03 -9.77123748e-01] [-1.01747468e-02 2.91316829e-03 9.99943992e-01 3.39835197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051652532 meters 0.3045512873947534 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 9.99956442e-01 -1.97890253e-04 9.33144434e-03 -6.49992827e-01] [ 2.28913417e-04 9.99994451e-01 -3.32363242e-03 -9.75874333e-01] [-9.33073484e-03 3.32562374e-03 9.99950938e-01 3.41699766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081652532 meters 0.29861356743701417 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 0.99995006 -0.00458868 0.00887761 -0.64903553] [ 0.00465616 0.99996031 -0.00759587 -0.97600712] [-0.0088424 0.00763683 0.99993174 0.03455777] [ 0. 0. 0. 1. ]] SLAMing on 31.111652532 meters 0.30023788496590303 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 0.9999538 -0.00467608 0.00839825 -0.64828402] [ 0.00473976 0.99996004 -0.00757944 -0.9758753 ] [-0.00836248 0.0076189 0.99993601 0.03526745] [ 0. 0. 0. 1. ]] SLAMing on 31.141652532000002 meters 0.3008349455628361 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 0.99995469 -0.00456289 0.00835438 -0.64834262] [ 0.00462456 0.9999621 -0.00737711 -0.97648672] [-0.0083204 0.00741541 0.99993789 0.03548481] [ 0. 0. 0. 1. ]] SLAMing on 31.171652532 meters 0.2981360374427335 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 0.999953 -0.00444236 0.00861738 -0.64916262] [ 0.00450483 0.99996362 -0.00724385 -0.97689525] [-0.00858488 0.00728233 0.99993663 0.03567263] [ 0. 0. 0. 1. ]] SLAMing on 31.201652532 meters 0.29805044267245984 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 9.99960970e-01 -2.11722629e-04 8.83254395e-03 -6.50002586e-01] [ 2.38756454e-04 9.99995290e-01 -3.05976442e-03 -9.76327258e-01] [-8.83185453e-03 3.06175383e-03 9.99956311e-01 3.61094790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231652532000002 meters 0.31065814824842525 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 9.99955934e-01 3.05576161e-04 9.38278441e-03 -6.51665795e-01] [-2.83147092e-04 9.99997100e-01 -2.39168448e-03 -9.78255342e-01] [-9.38348804e-03 2.38892238e-03 9.99953121e-01 3.63834642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261652532 meters 0.3038782587203801 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 9.99951301e-01 7.67545151e-04 9.83905407e-03 -6.52922359e-01] [-7.49958307e-04 9.99998115e-01 -1.79101762e-03 -9.80044325e-01] [-9.84041021e-03 1.78355152e-03 9.99949991e-01 3.63770075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291652532 meters 0.3149623965064633 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 0.99993902 0.00453519 0.01006898 -0.65253823] [-0.00455136 0.99998839 0.00158441 -0.97733088] [-0.01006168 -0.00163014 0.99994805 0.03513735] [ 0. 0. 0. 1. ]] SLAMing on 31.321652532 meters 0.3111060380805771 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 0.99993539 0.00481499 0.01029686 -0.65288398] [-0.00483549 0.99998637 0.00196706 -0.97863515] [-0.01028725 -0.00201672 0.99994505 0.03470895] [ 0. 0. 0. 1. ]] SLAMing on 31.351652532 meters 0.30981414327379886 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.03 [[ 0.99993083 0.0048907 0.01069632 -0.65374669] [-0.00491213 0.99998598 0.00197792 -0.97876184] [-0.0106865 -0.00203033 0.99994084 0.034475 ] [ 0. 0. 0. 1. ]] SLAMing on 31.381652532 meters 0.3133980510103542 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99992287 0.00512517 0.01131317 -0.65501601] [-0.00515036 0.99998432 0.00219907 -0.97960511] [-0.01130172 -0.00225717 0.99993359 0.03399916] [ 0. 0. 0. 1. ]] SLAMing on 31.411652532 meters 0.3143160367872844 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99991077 0.00534032 0.01224476 -0.65709503] [-0.00536769 0.99998317 0.00220354 -0.97967731] [-0.01223278 -0.00226907 0.9999226 0.03357517] [ 0. 0. 0. 1. ]] SLAMing on 31.441652532 meters 0.3167676877448502 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990539 0.00554032 0.01259046 -0.6577491 ] [-0.00557147 0.9999815 0.00244055 -0.98055871] [-0.01257671 -0.00251047 0.99991776 0.03320366] [ 0. 0. 0. 1. ]] SLAMing on 31.471652532 meters 0.31627207775542127 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990771 0.00550706 0.01241942 -0.65740722] [-0.00553771 0.9999817 0.00243529 -0.98048793] [-0.01240578 -0.00250384 0.99991991 0.03334229] [ 0. 0. 0. 1. ]] SLAMing on 31.501652532 meters 0.31788136338385453 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990888 0.0056111 0.01227813 -0.65709184] [-0.00564403 0.99998056 0.00264887 -0.98117807] [-0.01226303 -0.00271792 0.99992111 0.03338488] [ 0. 0. 0. 1. ]] SLAMing on 31.531652532 meters 0.31788136338385453 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990888 0.0056111 0.01227813 -0.65709184] [-0.00564403 0.99998056 0.00264887 -0.98117807] [-0.01226303 -0.00271792 0.99992111 0.03338488] [ 0. 0. 0. 1. ]] SLAMing on 31.561652532 meters 0.3172299757378961 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99990453 0.00550399 0.01267397 -0.65774736] [-0.00553391 0.99998198 0.00232621 -0.98025689] [-0.01266094 -0.00239613 0.99991698 0.03289581] [ 0. 0. 0. 1. ]] SLAMing on 31.591652532 meters 0.32087405567579763 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.9998966 0.0055765 0.0132552 -0.65886768] [-0.00560675 0.99998176 0.0022463 -0.98017227] [-0.01324243 -0.00232039 0.99990962 0.03233165] [ 0. 0. 0. 1. ]] SLAMing on 31.621652532 meters 0.32213748795204183 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99989199 0.00552935 0.01361726 -0.65946183] [-0.00555781 0.99998245 0.00205255 -0.97965858] [-0.01360568 -0.00212801 0.99990517 0.03183612] [ 0. 0. 0. 1. ]] SLAMing on 31.651652532 meters 0.3233264730507952 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99988015 0.00575044 0.01437401 -0.66138249] [-0.00578243 0.9999809 0.00218465 -0.98007725] [-0.01436117 -0.00226751 0.9998943 0.03186424] [ 0. 0. 0. 1. ]] SLAMing on 31.681652532 meters 0.32494741986564646 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987809 0.00584877 0.0144774 -0.66175438] [-0.00588299 0.99998 0.00232242 -0.98051528] [-0.01446353 -0.00240731 0.9998925 0.03200942] [ 0. 0. 0. 1. ]] SLAMing on 31.711652532 meters 0.3269676457074694 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987705 0.00590124 0.01452772 -0.66180527] [-0.00593664 0.99997951 0.0023949 -0.98079287] [-0.01451329 -0.00248085 0.9998916 0.03187531] [ 0. 0. 0. 1. ]] SLAMing on 31.741652532 meters 0.3294704454321975 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987967 0.00601811 0.0142977 -0.66098605] [-0.00605645 0.99997818 0.0026398 -0.98165959] [-0.0142815 -0.00272608 0.9998943 0.03147424] [ 0. 0. 0. 1. ]] SLAMing on 31.771652532 meters 0.32549461273231606 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99988313 0.00617319 0.01398636 -0.6603172 ] [-0.00621542 0.99997625 0.00297828 -0.98269983] [-0.01396765 -0.00306487 0.99989775 0.03159755] [ 0. 0. 0. 1. ]] SLAMing on 31.801652532 meters 0.3246900873549905 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.9998775 0.00628864 0.01433291 -0.66136129] [-0.00633338 0.99997521 0.00307827 -0.98302259] [-0.0143132 -0.00316867 0.99989254 0.03185018] [ 0. 0. 0. 1. ]] SLAMing on 31.831652532 meters 0.3251597825465706 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987214 0.00657378 0.01457727 -0.66198708] [-0.00662542 0.99997194 0.00349693 -0.98444119] [-0.01455388 -0.00359306 0.99988763 0.03183439] [ 0. 0. 0. 1. ]] SLAMing on 31.861652532 meters 0.32564432800963516 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.98, Z:0.03 [[ 0.99987483 0.00656918 0.01439366 -0.66153803] [-0.00662078 0.99997182 0.00354007 -0.9845725 ] [-0.01437 -0.00363492 0.99989014 0.03187227] [ 0. 0. 0. 1. ]] SLAMing on 31.891652532000002 meters 0.32000321257844344 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 9.99893478e-01 2.50118346e-03 1.43797487e-02 -6.62189424e-01] [-2.49494010e-03 9.99996785e-01 -4.52100240e-04 -9.85477770e-01] [-1.43808332e-02 4.16175469e-04 9.99896504e-01 3.27547393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921652532 meters 0.32091330268093604 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 9.99894030e-01 2.70294819e-03 1.43046146e-02 -6.62248111e-01] [-2.70194189e-03 9.99996346e-01 -8.96733473e-05 -9.86619931e-01] [-1.43048047e-02 5.10136072e-05 9.99897680e-01 3.30927305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951652532 meters 0.32084707527809814 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 9.99893335e-01 2.97081033e-03 1.43001107e-02 -6.62654236e-01] [-2.97637030e-03 9.99995503e-01 3.67539899e-04 -9.88011054e-01] [-1.42989545e-02 -4.10063120e-04 9.99897681e-01 3.36606174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981652532000002 meters 0.3268904506627743 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 0.99989145 0.00340248 0.01433549 -0.66289542] [-0.00341824 0.99999358 0.00107518 -0.99026575] [-0.01433174 -0.00112407 0.99989666 0.03379229] [ 0. 0. 0. 1. ]] SLAMing on 32.011652532 meters 0.3197036804767112 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 9.99906319e-01 2.47637290e-03 1.34617973e-02 -6.60655390e-01] [-2.47844177e-03 9.99996919e-01 1.37004031e-04 -9.87890525e-01] [-1.34614166e-02 -1.70355477e-04 9.99909377e-01 3.37795651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041652532 meters 0.31795560633320546 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.99, Z:0.03 [[ 0.99991023 -0.00162675 0.01330014 -0.66018868] [ 0.0016781 0.99999118 -0.00385018 -0.98906857] [-0.01329376 0.00387215 0.99990414 0.03361149] [ 0. 0. 0. 1. ]] SLAMing on 32.071652532 meters 0.3001260859338364 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.04 [[ 0.99985157 -0.01529637 0.0079287 -0.64569872] [ 0.01539892 0.99979641 -0.01303868 -0.97646711] [-0.00772764 0.01315884 0.99988356 0.03581494] [ 0. 0. 0. 1. ]] SLAMing on 32.101652532 meters 0.2953616471057536 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.98, Z:0.04 [[ 0.99984715 -0.01634665 0.00620114 -0.64136669] [ 0.01642832 0.99977585 -0.01335534 -0.97642841] [-0.00598144 0.01345518 0.99989158 0.03598723] [ 0. 0. 0. 1. ]] SLAMing on 32.131652532 meters 0.29053378282413245 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.97, Z:0.04 [[ 0.99980291 -0.01935486 0.00441891 -0.63665413] [ 0.0194216 0.99968973 -0.01559605 -0.97312303] [-0.00411568 0.0156788 0.99986861 0.03607681] [ 0. 0. 0. 1. ]] SLAMing on 32.161652532 meters 0.28656077241589223 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.04 [[ 0.99979781 -0.01988107 0.00301218 -0.63390174] [ 0.01992547 0.99968119 -0.01550787 -0.97363826] [-0.00270291 0.01556476 0.99987521 0.03738631] [ 0. 0. 0. 1. ]] SLAMing on 32.191652532 meters 0.28722441014537425 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.04 [[ 0.99979837 -0.01995905 0.00220287 -0.63241426] [ 0.01999035 0.99968397 -0.01524298 -0.9742806 ] [-0.00189793 0.01528394 0.99988139 0.03831659] [ 0. 0. 0. 1. ]] SLAMing on 32.221652532 meters 0.2735212351795571 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.04 [[ 9.99682181e-01 -2.51926978e-02 9.30313715e-04 -6.30892089e-01] [ 2.52061135e-02 9.99489397e-01 -1.96366223e-02 -9.74173853e-01] [-4.35139203e-04 1.96538310e-02 9.99806750e-01 4.12143702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251652532 meters 0.2732102209079845 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.04 [[ 9.99747065e-01 -2.24734756e-02 -8.65728490e-04 -6.26542460e-01] [ 2.24562607e-02 9.99613217e-01 -1.64052567e-02 -9.72606670e-01] [ 1.23407678e-03 1.63816662e-02 9.99865050e-01 4.11978343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281652532 meters 0.2639923259525489 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.96, Z:0.05 [[ 0.99941218 -0.03377055 -0.0059034 -0.61454096] [ 0.03362129 0.99915173 -0.02377892 -0.96424713] [ 0.00670142 0.02356646 0.99969981 0.0450232 ] [ 0. 0. 0. 1. ]] SLAMing on 32.311652532000004 meters 0.26133148272798595 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.96, Z:0.05 [[ 0.99937696 -0.03448363 -0.00752169 -0.61075167] [ 0.03429468 0.99912477 -0.02394937 -0.96428931] [ 0.00834097 0.0236765 0.99968488 0.04555109] [ 0. 0. 0. 1. ]] SLAMing on 32.341652532 meters 0.25857932370954284 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.97, Z:0.05 [[ 0.99936996 -0.03442895 -0.00862141 -0.60874319] [ 0.03421977 0.99914183 -0.02333675 -0.96592653] [ 0.00941747 0.02302702 0.99969049 0.04670064] [ 0. 0. 0. 1. ]] SLAMing on 32.371652532 meters 0.25697478908482796 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.96, Z:0.05 [[ 0.99942806 -0.03222962 -0.0102374 -0.60552944] [ 0.03201004 0.9992683 -0.02093364 -0.96282456] [ 0.01090459 0.02059397 0.99972845 0.0473413 ] [ 0. 0. 0. 1. ]] SLAMing on 32.401652532 meters 0.2534041556756218 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.99942965 -0.03200786 -0.01076407 -0.60495032] [ 0.03178437 0.99928798 -0.02032958 -0.96446505] [ 0.01140711 0.01997585 0.99973539 0.04841212] [ 0. 0. 0. 1. ]] SLAMing on 32.431652532 meters 0.25355874160651465 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.99952522 -0.0283472 -0.01207348 -0.60211621] [ 0.02814626 0.99946762 -0.01650024 -0.96351056] [ 0.01253479 0.01615258 0.99979096 0.04869822] [ 0. 0. 0. 1. ]] SLAMing on 32.461652532 meters 0.2517152058947089 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.99951377 -0.02859721 -0.0124264 -0.60133226] [ 0.02838699 0.99945622 -0.01677623 -0.9626262 ] [ 0.01289939 0.01641532 0.99978205 0.04899127] [ 0. 0. 0. 1. ]] SLAMing on 32.491652532 meters 0.2533098307600165 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.9995098 -0.02862162 -0.01268737 -0.60080772] [ 0.02840759 0.99945623 -0.01674078 -0.96267367] [ 0.01315962 0.01637216 0.99977936 0.04919339] [ 0. 0. 0. 1. ]] SLAMing on 32.521652532 meters 0.24706058396413222 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.99943932 -0.03032149 -0.0142003 -0.5970316 ] [ 0.03005968 0.99938055 -0.01830096 -0.96013055] [ 0.01474642 0.01786384 0.99973168 0.04907437] [ 0. 0. 0. 1. ]] SLAMing on 32.551652532 meters 0.24684720389550294 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.96, Z:0.05 [[ 0.99942746 -0.0304848 -0.01467775 -0.59609762] [ 0.03021237 0.99937343 -0.01843782 -0.95960449] [ 0.01523062 0.01798382 0.99972227 0.04949807] [ 0. 0. 0. 1. ]] SLAMing on 32.581652532 meters 0.2459348519143149 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.96, Z:0.05 [[ 0.99952485 -0.02643015 -0.01585925 -0.59380949] [ 0.02620549 0.99955557 -0.01421033 -0.95942036] [ 0.01622778 0.01378798 0.99977325 0.05015833] [ 0. 0. 0. 1. ]] SLAMing on 32.611652532 meters 0.25134049189055313 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.96, Z:0.05 [[ 0.99959664 -0.02260073 -0.01719781 -0.5912885 ] [ 0.02243195 0.99969891 -0.00994447 -0.95943257] [ 0.01741738 0.00955468 0.99980265 0.05125708] [ 0. 0. 0. 1. ]] SLAMing on 32.641652532 meters 0.24331099883777318 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.96, Z:0.05 [[ 0.99957288 -0.02289298 -0.01816524 -0.5893636 ] [ 0.02271728 0.99969369 -0.00982069 -0.95990747] [ 0.0183845 0.00940383 0.99978677 0.05219159] [ 0. 0. 0. 1. ]] SLAMing on 32.671652532 meters 0.24173304960894973 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.96, Z:0.05 [[ 0.99954713 -0.02320017 -0.01916495 -0.58717973] [ 0.02301362 0.99968615 -0.00989806 -0.95972144] [ 0.01938857 0.00945253 0.99976734 0.0527339 ] [ 0. 0. 0. 1. ]] SLAMing on 32.701652532 meters 0.26057005125631266 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.96, Z:0.05 [[ 0.99952672 -0.0234138 -0.01995336 -0.58539214] [ 0.0232173 0.99968019 -0.01002346 -0.9593384 ] [ 0.02018167 0.00955545 0.99975067 0.05308006] [ 0. 0. 0. 1. ]] SLAMing on 32.731652532 meters 0.23805147821647107 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99950529 -0.02342549 -0.02098639 -0.58300184] [ 0.02322858 0.9996843 -0.00957801 -0.96081274] [ 0.02120414 0.00908579 0.99973388 0.05346487] [ 0. 0. 0. 1. ]] SLAMing on 32.761652532 meters 0.23965070290187007 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99947547 -0.02376494 -0.02200037 -0.58109351] [ 0.02355954 0.99967683 -0.00954865 -0.96085935] [ 0.02222019 0.00902532 0.99971236 0.05456531] [ 0. 0. 0. 1. ]] SLAMing on 32.791652532 meters 0.23701742979254686 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.06 [[ 0.99945485 -0.02373922 -0.02294459 -0.57939634] [ 0.02353465 0.99968119 -0.00914498 -0.9619966 ] [ 0.02315437 0.0086 0.99969491 0.05565977] [ 0. 0. 0. 1. ]] SLAMing on 32.821652532 meters 0.24057053569485312 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99966327 -0.02459759 -0.00826522 -0.58361538] [ 0.02450237 0.99963442 -0.01143058 -0.96077772] [ 0.00854337 0.01122421 0.99990051 0.05481478] [ 0. 0. 0. 1. ]] SLAMing on 32.851652532 meters 0.24445735648065992 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99975015 -0.02050978 -0.00888728 -0.58236411] [ 0.02044419 0.99976354 -0.00740963 -0.95983188] [ 0.00903715 0.00722608 0.99993305 0.05493861] [ 0. 0. 0. 1. ]] SLAMing on 32.881652532 meters 0.24399749127022383 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.06 [[ 0.99982023 -0.0165111 -0.00932137 -0.58150302] [ 0.01647824 0.99985777 -0.00359161 -0.95823596] [ 0.00937934 0.00343736 0.9999501 0.05502436] [ 0. 0. 0. 1. ]] SLAMing on 32.911652532 meters 0.24595367477626492 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.06 [[ 9.99879392e-01 -1.21829625e-02 -9.63210985e-03 -5.80894372e-01] [ 1.21908976e-02 9.99925395e-01 7.65533441e-04 -9.58322422e-01] [ 9.62206479e-03 -8.82865176e-04 9.99953317e-01 5.51146821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941652532 meters 0.2496534843936373 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99991242 -0.00826713 -0.0103348 -0.5788512 ] [ 0.00831474 0.99995498 0.00457239 -0.95709058] [ 0.01029653 -0.00465793 0.99993614 0.05475513] [ 0. 0. 0. 1. ]] SLAMing on 32.971652532 meters 0.24474556797711566 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99991139 -0.00846664 -0.01027255 -0.57876673] [ 0.00851032 0.9999549 0.00421673 -0.95605163] [ 0.01023638 -0.00430378 0.99993835 0.05444936] [ 0. 0. 0. 1. ]] SLAMing on 33.001652532 meters 0.24268644095186345 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99991647 -0.0084034 -0.00981994 -0.57953214] [ 0.00844475 0.99995562 0.0041776 -0.95612611] [ 0.0097844 -0.00426017 0.99994306 0.05386442] [ 0. 0. 0. 1. ]] SLAMing on 33.031652532 meters 0.24188134978181858 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.05 [[ 0.99992378 -0.0086016 -0.00885703 -0.5814372 ] [ 0.00863213 0.99995691 0.00341466 -0.95388912] [ 0.00882727 -0.00349085 0.99995495 0.05307706] [ 0. 0. 0. 1. ]] SLAMing on 33.061652532000004 meters 0.24062685226125546 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.05 [[ 0.99992789 -0.00847293 -0.00850998 -0.58206755] [ 0.00850323 0.99995762 0.00352965 -0.95439838] [ 0.00847972 -0.00360176 0.99995756 0.05269365] [ 0. 0. 0. 1. ]] SLAMing on 33.091652532 meters 0.24075127548832398 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.05 [[ 0.99992412 -0.00859568 -0.0088247 -0.58123487] [ 0.00862621 0.99995692 0.00342717 -0.954098 ] [ 0.00879486 -0.00350303 0.99995519 0.05271441] [ 0. 0. 0. 1. ]] SLAMing on 33.121652532 meters 0.24333976141650024 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99992672 -0.00832684 -0.0087876 -0.58149354] [ 0.0083612 0.99995752 0.00387981 -0.9555196 ] [ 0.00875492 -0.003953 0.99995386 0.0529242 ] [ 0. 0. 0. 1. ]] SLAMing on 33.151652532 meters 0.23474746461356014 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.96, Z:0.05 [[ 0.99990932 -0.00892378 -0.01008513 -0.57931252] [ 0.00896645 0.99995101 0.00419331 -0.95656208] [ 0.01004721 -0.00428336 0.99994035 0.05488449] [ 0. 0. 0. 1. ]] SLAMing on 33.181652532 meters 0.23829844283643467 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99991107 -0.00627868 -0.01176543 -0.5708109 ] [ 0.00622056 0.9999683 -0.00497027 -0.95036581] [ 0.01179627 0.00489664 0.99991843 0.06392937] [ 0. 0. 0. 1. ]] SLAMing on 33.211652532 meters 0.25146826221056967 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99989775 -0.00638708 -0.01279438 -0.56871185] [ 0.00632766 0.99996903 -0.00467944 -0.95120757] [ 0.01282387 0.004598 0.9999072 0.06473188] [ 0. 0. 0. 1. ]] SLAMing on 33.241652532 meters 0.25130203632328474 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.07 [[ 0.99988242 -0.00672038 -0.01378306 -0.56645736] [ 0.00665447 0.99996623 -0.00482229 -0.95097683] [ 0.013815 0.00473001 0.99989338 0.06511045] [ 0. 0. 0. 1. ]] SLAMing on 33.271652532 meters 0.24608469010115605 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.95, Z:0.06 [[ 0.99986762 -0.0071218 -0.01462981 -0.56404788] [ 0.00704695 0.99996185 -0.0051617 -0.95026336] [ 0.01466602 0.00505792 0.99987966 0.06474766] [ 0. 0. 0. 1. ]] SLAMing on 33.301652532 meters 0.24397046578099404 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.95, Z:0.06 [[ 0.99986969 -0.00705757 -0.014519 -0.56449658] [ 0.00698446 0.99996271 -0.00507961 -0.95044625] [ 0.01455431 0.00497754 0.99988169 0.06495032] [ 0. 0. 0. 1. ]] SLAMing on 33.331652532 meters 0.23960358001277274 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.95, Z:0.06 [[ 9.99886002e-01 -2.89827063e-03 -1.48183593e-02 -5.63602148e-01] [ 2.88321061e-03 9.99995305e-01 -1.03757061e-03 -9.49637269e-01] [ 1.48212969e-02 9.94727882e-04 9.99889664e-01 6.47607195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361652532 meters 0.23960227232901252 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99990569 -0.00267693 -0.01347023 -0.5663627 ] [ 0.00265689 0.99999534 -0.00150502 -0.94824969] [ 0.0134742 0.00146909 0.99990814 0.06365319] [ 0. 0. 0. 1. ]] SLAMing on 33.391652532 meters 0.24249672260439112 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99991465 -0.00254132 -0.01281512 -0.56788365] [ 0.00252206 0.99999567 -0.0015188 -0.94829196] [ 0.01281893 0.00148635 0.99991673 0.06338947] [ 0. 0. 0. 1. ]] SLAMing on 33.421652532 meters 0.24249672260439112 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99991465 -0.00254132 -0.01281512 -0.56788365] [ 0.00252206 0.99999567 -0.0015188 -0.94829196] [ 0.01281893 0.00148635 0.99991673 0.06338947] [ 0. 0. 0. 1. ]] SLAMing on 33.451652532 meters 0.25926893291532055 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99992215 -0.00238913 -0.01224716 -0.56931057] [ 0.00237124 0.9999961 -0.00147498 -0.948459 ] [ 0.01225064 0.00144582 0.99992391 0.06333747] [ 0. 0. 0. 1. ]] SLAMing on 33.481652532 meters 0.2424480784240687 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.9999289 0.00221551 -0.01171736 -0.57078299] [-0.00217978 0.99999294 0.00306095 -0.94900299] [ 0.01172406 -0.00303519 0.99992666 0.06344155] [ 0. 0. 0. 1. ]] SLAMing on 33.511652532 meters 0.2560102655029639 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.9999329 0.00201904 -0.01140738 -0.57143808] [-0.00198918 0.99999457 0.00262808 -0.94767294] [ 0.01141263 -0.00260521 0.99993148 0.0632904 ] [ 0. 0. 0. 1. ]] SLAMing on 33.541652532 meters 0.24128716888806323 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99993876 0.00198269 -0.01088812 -0.57237635] [-0.00195712 0.9999953 0.00235903 -0.9470123 ] [ 0.01089275 -0.00233758 0.99993794 0.06273246] [ 0. 0. 0. 1. ]] SLAMing on 33.571652532 meters 0.2416921824398009 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99994505 0.00190627 -0.01030875 -0.57341372] [-0.00188556 0.99999618 0.00201878 -0.94612978] [ 0.01031256 -0.00199923 0.99994483 0.06208961] [ 0. 0. 0. 1. ]] SLAMing on 33.601652532 meters 0.24422236576166131 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.95, Z:0.06 [[ 0.99995062 0.00199626 -0.00973528 -0.57460513] [-0.00197743 0.99999616 0.00194398 -0.9460427 ] [ 0.00973912 -0.00192464 0.99995072 0.06167786] [ 0. 0. 0. 1. ]] SLAMing on 33.631652532 meters 0.25437825109866097 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99996059 0.00251421 -0.008514 -0.57715456] [-0.00249537 0.99999442 0.00222193 -0.9468728 ] [ 0.00851954 -0.0022006 0.99996129 0.06089071] [ 0. 0. 0. 1. ]] SLAMing on 33.661652532 meters 0.24855970906042452 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99996611 0.00276651 -0.00775406 -0.57849709] [-0.00274823 0.99999342 0.00236745 -0.94757194] [ 0.00776056 -0.00234606 0.99996713 0.0599617 ] [ 0. 0. 0. 1. ]] SLAMing on 33.691652532 meters 0.24721202606811174 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99996999 0.00259118 -0.00730115 -0.57953396] [-0.00257738 0.99999488 0.00189904 -0.94611332] [ 0.00730603 -0.00188017 0.99997154 0.05983403] [ 0. 0. 0. 1. ]] SLAMing on 33.721652532 meters 0.24979328965273434 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99997393 0.00308634 -0.00652795 -0.58176213] [-0.00307027 0.99999223 0.00247106 -0.94765624] [ 0.00653552 -0.00245095 0.99997564 0.06025864] [ 0. 0. 0. 1. ]] SLAMing on 33.751652532 meters 0.25318593293673386 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99997707 0.00393384 -0.00551299 -0.58453765] [-0.00391441 0.9999861 0.00353143 -0.950447 ] [ 0.00552681 -0.00350976 0.99997857 0.06066729] [ 0. 0. 0. 1. ]] SLAMing on 33.781652532 meters 0.2515036455275251 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.9999793 0.00411902 -0.00494323 -0.58598948] [-0.00410085 0.99998482 0.0036804 -0.95096808] [ 0.00495832 -0.00366005 0.99998101 0.06066392] [ 0. 0. 0. 1. ]] SLAMing on 33.811652532000004 meters 0.25332107325660913 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.9999811 0.003795 -0.00483723 -0.58506011] [-0.00378042 0.9999883 0.00301791 -0.94945983] [ 0.00484863 -0.00299957 0.99998375 0.05897256] [ 0. 0. 0. 1. ]] SLAMing on 33.841652532 meters 0.2538121157601761 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99998151 0.00365465 -0.00486011 -0.58441462] [-0.00364113 0.99998949 0.00278744 -0.94900311] [ 0.00487025 -0.00276969 0.9999843 0.05816593] [ 0. 0. 0. 1. ]] SLAMing on 33.871652532 meters 0.2545786184654562 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.95, Z:0.06 [[ 0.99998298 0.0034645 -0.00469495 -0.58460455] [-0.00345317 0.99999111 0.00241855 -0.94788827] [ 0.00470329 -0.0024023 0.99998605 0.05786295] [ 0. 0. 0. 1. ]] SLAMing on 33.901652532 meters 0.25352236535646794 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998395 0.00362968 -0.00435141 -0.58559698] [-0.00361843 0.9999901 0.00259045 -0.94843496] [ 0.00436077 -0.00257467 0.99998718 0.05802072] [ 0. 0. 0. 1. ]] SLAMing on 33.931652532 meters 0.255843792380209 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998472 0.00361 -0.00418666 -0.58594405] [-0.00359949 0.99999036 0.00251336 -0.94826176] [ 0.00419569 -0.00249825 0.99998808 0.05795891] [ 0. 0. 0. 1. ]] SLAMing on 33.961652532 meters 0.2525640238861206 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998572 0.00346099 -0.00407315 -0.58573009] [-0.00345192 0.99999155 0.00223031 -0.94757663] [ 0.00408083 -0.00221622 0.99998922 0.05726322] [ 0. 0. 0. 1. ]] SLAMing on 33.991652532 meters 0.25334356594454605 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998711 0.00325235 -0.00389811 -0.58583551] [-0.00324528 0.99999308 0.0018187 -0.94637512] [ 0.003904 -0.00180603 0.99999075 0.0568069 ] [ 0. 0. 0. 1. ]] SLAMing on 34.021652532 meters 0.2531066330321641 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998932 0.00310061 -0.00342633 -0.58690666] [-0.00309578 0.99999421 0.00141515 -0.94513886] [ 0.00343069 -0.00140452 0.99999313 0.05666065] [ 0. 0. 0. 1. ]] SLAMing on 34.051652532 meters 0.25765418052046823 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998949 0.00309682 -0.00338061 -0.58706067] [-0.0030921 0.99999424 0.00139975 -0.94507906] [ 0.00338493 -0.00138928 0.99999331 0.05672546] [ 0. 0. 0. 1. ]] SLAMing on 34.081652532 meters 0.25251495249265604 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998972 0.00309569 -0.00331417 -0.58730741] [-0.00309112 0.99999427 0.00138305 -0.94501433] [ 0.00331843 -0.0013728 0.99999355 0.05686364] [ 0. 0. 0. 1. ]] SLAMing on 34.111652532 meters 0.26437896091673196 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998988 0.00318597 -0.00317485 -0.58774823] [-0.00318123 0.99999382 0.00149584 -0.9453615 ] [ 0.00317959 -0.00148573 0.99999384 0.05698551] [ 0. 0. 0. 1. ]] SLAMing on 34.141652532 meters 0.2643149023393535 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998913 0.00412575 -0.00217407 -0.59057133] [-0.00412012 0.99998816 0.00258737 -0.94810559] [ 0.00218472 -0.00257839 0.99999429 0.05758367] [ 0. 0. 0. 1. ]] SLAMing on 34.171652532 meters 0.25864873879902767 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.95, Z:0.06 [[ 0.99998851 0.00467822 -0.00104308 -0.59322365] [-0.00467506 0.99998453 0.00301455 -0.9493746 ] [ 0.00105716 -0.00300964 0.99999491 0.05724354] [ 0. 0. 0. 1. ]] SLAMing on 34.201652532 meters 0.26140133444565505 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99986937e-01 5.10971850e-03 1.31228605e-04 -5.95693119e-01] [-5.11011628e-03 9.99981712e-01 3.23456404e-03 -9.50135105e-01] [-1.14698493e-04 -3.23519238e-03 9.99994760e-01 5.64301519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231652532 meters 0.2669645149800333 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99956210e-01 9.30438468e-03 1.00366086e-03 -5.97384253e-01] [-9.31112258e-03 9.99932625e-01 6.93167065e-03 -9.48267335e-01] [-9.39098309e-04 -6.94071232e-03 9.99975472e-01 5.58531335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261652532 meters 0.268175568957957 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99995086 0.00979777 0.00151011 -0.59886177] [-0.00980896 0.99992307 0.00759181 -0.95027218] [-0.00143561 -0.00760625 0.99997004 0.05604685] [ 0. 0. 0. 1. ]] SLAMing on 34.291652532 meters 0.2727704785229979 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99994762 0.01002504 0.0020635 -0.60005783] [-0.01004084 0.99991923 0.00779187 -0.95103236] [-0.00198522 -0.00781218 0.99996751 0.05570316] [ 0. 0. 0. 1. ]] SLAMing on 34.321652532 meters 0.27276105000712186 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99993596 0.01068625 0.00372469 -0.6038224 ] [-0.01071461 0.99991312 0.00767799 -0.95021073] [-0.00364232 -0.00771741 0.99996359 0.05502107] [ 0. 0. 0. 1. ]] SLAMing on 34.351652532 meters 0.27879081954968976 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.95, Z:0.06 [[ 0.99993357 0.01072383 0.00422516 -0.60508736] [-0.01075569 0.99991333 0.00759265 -0.94997608] [-0.00414337 -0.00763759 0.99996225 0.05502578] [ 0. 0. 0. 1. ]] SLAMing on 34.381652532 meters 0.27489360756704434 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.95, Z:0.06 [[ 0.99996229 0.00703634 0.00509099 -0.60761883] [-0.00705701 0.99996689 0.00405272 -0.95205209] [-0.0050623 -0.00408849 0.99997883 0.05548477] [ 0. 0. 0. 1. ]] SLAMing on 34.411652532 meters 0.2660530979050291 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99990580e-01 2.14812336e-03 3.77166832e-03 -6.04791866e-01] [-2.14736540e-03 9.99997673e-01 -2.04998520e-04 -9.52306331e-01] [-3.77209991e-03 1.96897439e-04 9.99992866e-01 5.63224038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441652532 meters 0.26376795487829124 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99999233 -0.00187077 0.00344174 -0.6043211 ] [ 0.00188417 0.99999063 -0.00389655 -0.95426036] [-0.00343441 0.003903 0.99998649 0.05677044] [ 0. 0. 0. 1. ]] SLAMing on 34.471652532 meters 0.2598326683248081 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99999432 -0.0024054 0.00236223 -0.6016616 ] [ 0.0024153 0.99998827 -0.00419776 -0.95375963] [-0.00235211 0.00420344 0.9999884 0.05685697] [ 0. 0. 0. 1. ]] SLAMing on 34.501652532 meters 0.2592756367796732 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99999528 -0.00241387 0.00190038 -0.60059188] [ 0.00242157 0.99998882 -0.00406138 -0.95412549] [-0.00189056 0.00406596 0.99998995 0.05698381] [ 0. 0. 0. 1. ]] SLAMing on 34.531652532 meters 0.25881083759139223 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 0.99999543 -0.00223322 0.00203916 -0.60121554] [ 0.00224091 0.99999037 -0.00377459 -0.95494657] [-0.00203071 0.00377914 0.9999908 0.05732061] [ 0. 0. 0. 1. ]] SLAMing on 34.561652532000004 meters 0.26076025292315186 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99997385e-01 1.69704960e-03 1.53313548e-03 -5.99829483e-01] [-1.69720895e-03 9.99998554e-01 1.02640338e-04 -9.53653973e-01] [-1.53295908e-03 -1.05242121e-04 9.99998819e-01 5.72117273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591652532 meters 0.26276674455923144 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99997292e-01 1.45546451e-03 1.81590656e-03 -6.00211242e-01] [-1.45465702e-03 9.99998843e-01 -4.45917603e-04 -9.52014596e-01] [-1.81655348e-03 4.43274874e-04 9.99998252e-01 5.67627174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621652532 meters 0.2658738739719455 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.95, Z:0.06 [[ 9.99993942e-01 1.96097016e-03 2.87582345e-03 -6.02599184e-01] [-1.96054253e-03 9.99998067e-01 -1.51506923e-04 -9.52927168e-01] [-2.87611499e-03 1.45867831e-04 9.99995853e-01 5.62239623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651652532 meters 0.272016073215792 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.95, Z:0.06 [[ 0.99996295 0.00714927 0.00479402 -0.60682009] [-0.00716905 0.99996581 0.00412132 -0.95255115] [-0.00476439 -0.00415554 0.99998002 0.0552034 ] [ 0. 0. 0. 1. ]] SLAMing on 34.681652532 meters 0.2830226380677366 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.95, Z:0.05 [[ 0.99994881 0.00798988 0.00620802 -0.60987957] [-0.00801817 0.99995752 0.0045457 -0.95349652] [-0.00617144 -0.00459525 0.9999704 0.05433626] [ 0. 0. 0. 1. ]] SLAMing on 34.711652532 meters 0.2804995439940277 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.95, Z:0.05 [[ 0.99993216 0.00876223 0.00767404 -0.61310047] [-0.00879816 0.99995044 0.00466023 -0.95371378] [-0.00763282 -0.00472743 0.99995969 0.05346509] [ 0. 0. 0. 1. ]] SLAMing on 34.741652532 meters 0.29583003502891586 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.95, Z:0.05 [[ 0.99991433 0.00936534 0.00914432 -0.61597771] [-0.00940529 0.99994637 0.0043355 -0.95270586] [-0.00910322 -0.00442113 0.99994879 0.05212982] [ 0. 0. 0. 1. ]] SLAMing on 34.771652532 meters 0.289171073736019 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.95, Z:0.05 [[ 0.99990509 0.0097345 0.00974891 -0.61739566] [-0.00978158 0.99994067 0.00479341 -0.9542481 ] [-0.00970167 -0.00488831 0.99994099 0.05190805] [ 0. 0. 0. 1. ]] SLAMing on 34.801652532 meters 0.29620784803263694 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.96, Z:0.05 [[ 0.9998879 0.0105567 0.01061772 -0.61975134] [-0.01061802 0.99992718 0.00573533 -0.95695031] [-0.0105564 -0.00584743 0.99992718 0.05208789] [ 0. 0. 0. 1. ]] SLAMing on 34.831652532 meters 0.30326865050263757 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.05 [[ 0.99959517 0.02382712 0.0155486 -0.63026801] [-0.02406221 0.99959624 0.01511181 -0.97209248] [-0.01518225 -0.01547983 0.99976491 0.047711 ] [ 0. 0. 0. 1. ]] SLAMing on 34.861652532 meters 0.31017263793957794 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.97, Z:0.05 [[ 0.99957254 0.02409984 0.01655072 -0.63272117] [-0.02435216 0.99958762 0.01521698 -0.97253379] [-0.01617717 -0.01561352 0.99974723 0.04759985] [ 0. 0. 0. 1. ]] SLAMing on 34.891652532 meters 0.3130164874321221 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.97, Z:0.05 [[ 0.999539 0.0246278 0.0177557 -0.63571903] [-0.02490289 0.9995706 0.01544211 -0.97323012] [-0.01736777 -0.01587716 0.9997231 0.04757056] [ 0. 0. 0. 1. ]] SLAMing on 34.921652532 meters 0.34511409073243265 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.98, Z:0.05 [[ 0.99948022 0.02600795 0.01904936 -0.63920624] [-0.02633175 0.99950957 0.01694872 -0.97727097] [-0.01859922 -0.01744151 0.99967488 0.04792862] [ 0. 0. 0. 1. ]] SLAMing on 34.951652532 meters 0.3192252511034078 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.98, Z:0.05 [[ 0.99937133 0.02870421 0.02080904 -0.64323017] [-0.02910514 0.99939141 0.01922745 -0.98143257] [-0.02024447 -0.01982102 0.99959856 0.04769835] [ 0. 0. 0. 1. ]] SLAMing on 34.981652532 meters 0.3327474898997279 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.98, Z:0.05 [[ 0.99930451 0.03005701 0.02206977 -0.64602853] [-0.03051033 0.99932422 0.02049918 -0.98483974] [-0.02143871 -0.02115828 0.99954625 0.04725137] [ 0. 0. 0. 1. ]] SLAMing on 35.011652532 meters 0.33082877285693085 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.99, Z:0.05 [[ 0.99914621 0.03407302 0.02336392 -0.64992038] [-0.03464484 0.99909877 0.0245232 -0.99166154] [-0.02250728 -0.0253117 0.99942621 0.04822404] [ 0. 0. 0. 1. ]] SLAMing on 35.041652532 meters 0.3584406526768354 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.00, Z:0.05 [[ 0.99875551 0.04097728 0.02843057 -0.6618232 ] [-0.0417715 0.99873679 0.02792795 -1.00004535] [-0.02725025 -0.02908078 0.99920555 0.0456419 ] [ 0. 0. 0. 1. ]] SLAMing on 35.071652532 meters 0.33978830702517965 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.00, Z:0.05 [[ 0.99872708 0.04125772 0.02901771 -0.66300204] [-0.04207651 0.99871645 0.02819617 -1.00116086] [-0.02781715 -0.02938124 0.99918114 0.04508308] [ 0. 0. 0. 1. ]] SLAMing on 35.101652532 meters 0.3418186080612139 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.00, Z:0.04 [[ 0.9988219 0.03793227 0.03026459 -0.66620271] [-0.03868097 0.99895002 0.02454857 -1.00315771] [-0.02930163 -0.02569031 0.99924042 0.04460752] [ 0. 0. 0. 1. ]] SLAMing on 35.131652532 meters 0.3356975300208454 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.01, Z:0.05 [[ 0.99925494 0.03529028 0.01562571 -0.66424967] [-0.03564117 0.99910504 0.02277789 -1.01038867] [-0.01480789 -0.02331784 0.99961843 0.04667638] [ 0. 0. 0. 1. ]] SLAMing on 35.161652532 meters 0.33512938791032093 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.01, Z:0.05 [[ 0.99937335 0.03149552 0.01615354 -0.66594567] [-0.03180157 0.99931258 0.01905332 -1.01242733] [-0.01554235 -0.01955509 0.99968797 0.04670028] [ 0. 0. 0. 1. ]] SLAMing on 35.191652532 meters 0.33124366577670045 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.999476 0.02785803 0.01648184 -0.66715569] [-0.02811627 0.99948215 0.01564949 -1.01541412] [-0.01603734 -0.0161047 0.99974169 0.04674944] [ 0. 0. 0. 1. ]] SLAMing on 35.221652532 meters 0.3270390182715375 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.99965551 0.01989775 0.01711555 -0.66954663] [-0.02003087 0.99977015 0.00764212 -1.01723921] [-0.01695955 -0.00798232 0.99982431 0.04723167] [ 0. 0. 0. 1. ]] SLAMing on 35.251652532 meters 0.32521391129296984 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.99972157 0.01605227 0.01729497 -0.67034344] [-0.0161231 0.99986216 0.00396339 -1.01938271] [-0.01722897 -0.00424114 0.99984258 0.04742072] [ 0. 0. 0. 1. ]] SLAMing on 35.281652532 meters 0.32055107401053834 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.9997486 0.01526129 0.01642632 -0.66807063] [-0.01531746 0.99987724 0.0032986 -1.01772165] [-0.01637396 -0.00354938 0.99985964 0.04747842] [ 0. 0. 0. 1. ]] SLAMing on 35.311652532 meters 0.32055107401053834 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.9997486 0.01526129 0.01642632 -0.66807063] [-0.01531746 0.99987724 0.0032986 -1.01772165] [-0.01637396 -0.00354938 0.99985964 0.04747842] [ 0. 0. 0. 1. ]] SLAMing on 35.341652532 meters 0.31750223350558865 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 9.99802107e-01 1.14348478e-02 1.62785204e-02 -6.68529697e-01] [-1.14323408e-02 9.99934618e-01 -2.47064219e-04 -1.02007212e+00] [-1.62802813e-02 6.09137346e-05 9.99867466e-01 4.83982795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371652532 meters 0.3100086393392617 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.02, Z:0.05 [[ 0.99986492 0.00670063 0.0150084 -0.66641557] [-0.00663585 0.99996847 -0.00436186 -1.02067166] [-0.01503715 0.00426168 0.99987785 0.04999544] [ 0. 0. 0. 1. ]] SLAMing on 35.401652532 meters 0.3081869987088376 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99987856 0.00647627 0.01417499 -0.66464908] [-0.00641634 0.9999703 -0.00426953 -1.0208471 ] [-0.01420222 0.00417806 0.99989041 0.05056382] [ 0. 0. 0. 1. ]] SLAMing on 35.431652532 meters 0.3047046818149369 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99989318 0.00619504 0.01323792 -0.66276618] [-0.00613949 0.99997219 -0.00423305 -1.02089671] [-0.01326378 0.00415133 0.99990341 0.05130433] [ 0. 0. 0. 1. ]] SLAMing on 35.461652532 meters 0.3014456439826689 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99990115 0.00622159 0.01260877 -0.66166818] [-0.00617339 0.9999735 -0.0038579 -1.02188906] [-0.01263244 0.00377968 0.99991306 0.05203267] [ 0. 0. 0. 1. ]] SLAMing on 35.491652532 meters 0.2957537601004907 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99992165 0.00523839 0.01136859 -0.65918782] [-0.00518893 0.99997696 -0.00437561 -1.0209919 ] [-0.01139125 0.00431628 0.9999258 0.05309657] [ 0. 0. 0. 1. ]] SLAMing on 35.521652532 meters 0.2943451065361055 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99992721 0.00530993 0.01083441 -0.6583952 ] [-0.00526643 0.99997797 -0.00403951 -1.02183385] [-0.01085562 0.00398216 0.99993315 0.05391001] [ 0. 0. 0. 1. ]] SLAMing on 35.551652532 meters 0.2969437508567976 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.99993372 0.00523909 0.01025201 -0.65735432] [-0.00519894 0.99997873 -0.00393898 -1.02195514] [-0.01027243 0.00388542 0.99993969 0.05456358] [ 0. 0. 0. 1. ]] SLAMing on 35.581652532 meters 0.29023594432494587 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.05 [[ 0.9999428 0.00505543 0.00942575 -0.65548652] [-0.00501904 0.99997988 -0.00387948 -1.02204831] [-0.00944517 0.00383195 0.99994805 0.05490093] [ 0. 0. 0. 1. ]] SLAMing on 35.611652532 meters 0.29067936478314105 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99994249 0.00505929 0.00945596 -0.65566437] [-0.0050229 0.9999799 -0.00386844 -1.0220496 ] [-0.00947534 0.00382072 0.99994781 0.05504909] [ 0. 0. 0. 1. ]] SLAMing on 35.641652532 meters 0.29030739602558464 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99993789 0.00527882 0.0098154 -0.65678312] [-0.00524374 0.99997979 -0.00359621 -1.02290362] [-0.00983418 0.00354451 0.99994536 0.05529582] [ 0. 0. 0. 1. ]] SLAMing on 35.671652532 meters 0.2922394174226296 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99992725 0.00533818 0.01081658 -0.6592605 ] [-0.00529611 0.99997831 -0.00391417 -1.02186813] [-0.01083724 0.0038566 0.99993384 0.05525822] [ 0. 0. 0. 1. ]] SLAMing on 35.701652532 meters 0.294514356862385 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99992341 0.00546887 0.01110213 -0.65992184] [-0.00542728 0.99997816 -0.00377267 -1.022391 ] [-0.01112252 0.00371213 0.99993125 0.05511666] [ 0. 0. 0. 1. ]] SLAMing on 35.731652532 meters 0.29239310293638304 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99992342 0.0055515 0.01106026 -0.66003207] [-0.00551195 0.99997832 -0.0036032 -1.02287876] [-0.01108002 0.00354196 0.99993234 0.05540709] [ 0. 0. 0. 1. ]] SLAMing on 35.761652532 meters 0.29340598945138624 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.02, Z:0.06 [[ 0.99993217 0.00550829 0.01026242 -0.65901234] [-0.00547574 0.9999799 -0.00319701 -1.02380359] [-0.01027983 0.0031406 0.99994223 0.05692544] [ 0. 0. 0. 1. ]] SLAMing on 35.791652532 meters 0.29046139415419076 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99993618 0.00569355 0.00975777 -0.65824704] [-0.00566753 0.99998031 -0.00269248 -1.02526516] [-0.00977291 0.00263701 0.99994877 0.05762038] [ 0. 0. 0. 1. ]] SLAMing on 35.821652532 meters 0.2909017919201142 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99993596 0.00611127 0.00952533 -0.65800096] [-0.0060936 0.99997966 -0.00188306 -1.02781696] [-0.00953664 0.00182489 0.99995286 0.05800847] [ 0. 0. 0. 1. ]] SLAMing on 35.851652532 meters 0.2909901040195457 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99993613 0.0061612 0.00947504 -0.6584406 ] [-0.00614476 0.99997957 -0.0017628 -1.02800454] [-0.00948571 0.00170446 0.99995356 0.05886344] [ 0. 0. 0. 1. ]] SLAMing on 35.881652532 meters 0.29364028729315095 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99993511 0.00626417 0.00951491 -0.65857999] [-0.0062492 0.99997919 -0.00160182 -1.02852861] [-0.00952474 0.00154225 0.99995345 0.05887856] [ 0. 0. 0. 1. ]] SLAMing on 35.911652532 meters 0.2898739487136228 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99993819 0.00619455 0.00923278 -0.65779414] [-0.00617975 0.99997958 -0.00163098 -1.0284266 ] [-0.00924269 0.00157382 0.99995605 0.05875447] [ 0. 0. 0. 1. ]] SLAMing on 35.941652532 meters 0.2881739657107596 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99995556 0.0017619 0.00926162 -0.65748926] [-0.00170416 0.99997909 -0.0062386 -1.02765963] [-0.00927242 0.00622254 0.99993765 0.05817682] [ 0. 0. 0. 1. ]] SLAMing on 35.971652532 meters 0.28673793462490976 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99995901 0.00182818 0.0088681 -0.65657337] [-0.00177509 0.99998048 -0.00599006 -1.02841926] [-0.00887888 0.00597407 0.99994274 0.05823745] [ 0. 0. 0. 1. ]] SLAMing on 36.001652532 meters 0.2852787992190487 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.03, Z:0.06 [[ 0.99996245 0.00165503 0.00850672 -0.65579311] [-0.00160295 0.99997995 -0.00612557 -1.02793225] [-0.00851669 0.00611171 0.99994506 0.05848067] [ 0. 0. 0. 1. ]] SLAMing on 36.031652532 meters 0.28451592770640916 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99996068 0.00448971 0.00764673 -0.65365196] [-0.00446512 0.99998481 -0.00323043 -1.02503473] [-0.00766112 0.00319616 0.99996555 0.05853378] [ 0. 0. 0. 1. ]] SLAMing on 36.061652532 meters 0.2827774931958146 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99996348 0.00451732 0.00725438 -0.65309027] [-0.00449565 0.99998539 -0.00300041 -1.02559698] [-0.00726782 0.00296769 0.99996919 0.05916754] [ 0. 0. 0. 1. ]] SLAMing on 36.091652532 meters 0.2796377844303076 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99997143 0.00418595 0.00629437 -0.65101454] [-0.00416779 0.99998712 -0.00289599 -1.02598379] [-0.00630642 0.00286968 0.999976 0.05972213] [ 0. 0. 0. 1. ]] SLAMing on 36.121652532 meters 0.27939913954746437 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99997645 0.00398089 0.00559014 -0.64942119] [-0.00396432 0.99998773 -0.00297138 -1.02564298] [-0.0056019 0.00294915 0.99997996 0.06004257] [ 0. 0. 0. 1. ]] SLAMing on 36.151652532 meters 0.2765723310389149 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998091 0.00380937 0.00486515 -0.64798008] [-0.00379509 0.99998847 -0.00294065 -1.025685 ] [-0.0048763 0.00292213 0.99998384 0.06065666] [ 0. 0. 0. 1. ]] SLAMing on 36.181652532 meters 0.2763530319393462 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998663 0.00349718 0.00380812 -0.64569436] [-0.0034861 0.99998968 -0.00291243 -1.025812 ] [-0.00381826 0.00289911 0.99998851 0.06122972] [ 0. 0. 0. 1. ]] SLAMing on 36.211652532 meters 0.27106843717685053 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99998912 0.00347699 0.00311073 -0.6443708 ] [-0.00346872 0.99999045 -0.00265776 -1.02650405] [-0.00311994 0.00264694 0.99999163 0.06188624] [ 0. 0. 0. 1. ]] SLAMing on 36.241652532 meters 0.27109120771404294 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99998859 0.00379315 0.00290457 -0.64445916] [-0.00378737 0.99999084 -0.0019933 -1.0284132 ] [-0.0029121 0.00198228 0.9999938 0.06273274] [ 0. 0. 0. 1. ]] SLAMing on 36.271652532 meters 0.2695127780346631 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998815 0.00385745 0.00297034 -0.64500962] [-0.00385186 0.99999081 -0.0018849 -1.02862914] [-0.00297758 0.00187344 0.99999381 0.06329712] [ 0. 0. 0. 1. ]] SLAMing on 36.301652532 meters 0.2690507071010357 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99998845 0.00390092 0.00280671 -0.64481151] [-0.00389604 0.99999089 -0.00174241 -1.02901014] [-0.00281348 0.00173145 0.99999454 0.06362345] [ 0. 0. 0. 1. ]] SLAMing on 36.331652532 meters 0.27366186047615537 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.9999889 0.00394571 0.00257489 -0.64434332] [-0.00394165 0.99999098 -0.00158159 -1.0294762 ] [-0.00258111 0.00157143 0.99999543 0.06378685] [ 0. 0. 0. 1. ]] SLAMing on 36.361652532 meters 0.2678441014062759 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99998942 0.00404478 0.00219213 -0.64364152] [-0.00404198 0.99999102 -0.00127688 -1.0303611 ] [-0.00219728 0.00126801 0.99999678 0.0641687 ] [ 0. 0. 0. 1. ]] SLAMing on 36.391652532 meters 0.2667553706169519 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99999031 0.00396263 0.00191666 -0.64326019] [-0.00396016 0.99999133 -0.00128807 -1.03020465] [-0.00192175 0.00128047 0.99999733 0.06467041] [ 0. 0. 0. 1. ]] SLAMing on 36.421652532 meters 0.2674140040270131 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99999026 0.00402043 0.00181861 -0.64298023] [-0.00401832 0.99999125 -0.00116305 -1.03062149] [-0.00182327 0.00115573 0.99999767 0.06461296] [ 0. 0. 0. 1. ]] SLAMing on 36.451652532 meters 0.26966441885921283 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99999016 0.00401697 0.00188288 -0.64321362] [-0.00401476 0.99999125 -0.00117276 -1.03056489] [-0.00188757 0.00116519 0.99999754 0.0647209 ] [ 0. 0. 0. 1. ]] SLAMing on 36.481652532 meters 0.2775890261324877 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 9.99990004e-01 4.07960410e-03 1.82974821e-03 -6.43255287e-01] [-4.07775428e-03 9.99991172e-01 -1.01356062e-03 -1.03103181e+00] [-1.83386698e-03 1.00608923e-03 9.99997812e-01 6.49733058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511652532 meters 0.26556497102794036 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 0.99999064 0.0039766 0.00170425 -0.64289459] [-0.00397463 0.99999143 -0.00115582 -1.03056636] [-0.00170883 0.00114903 0.99999788 0.06493713] [ 0. 0. 0. 1. ]] SLAMing on 36.541652532 meters 0.26846476726375673 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 9.99989468e-01 4.12934430e-03 2.00322764e-03 -6.43145062e-01] [-4.12728541e-03 9.99990951e-01 -1.03083193e-03 -1.03110941e+00] [-2.00746617e-03 1.02255318e-03 9.99997462e-01 6.41485699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571652532 meters 0.26933625120754007 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.03, Z:0.06 [[ 9.99988975e-01 4.17938600e-03 2.14074100e-03 -6.43736770e-01] [-4.17736098e-03 9.99990824e-01 -9.49540269e-04 -1.03131384e+00] [-2.14468985e-03 9.40587153e-04 9.99997258e-01 6.44905808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601652532 meters 0.26891469163918835 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998694 0.00425536 0.00282956 -0.64547127] [-0.00425241 0.99999041 -0.00104602 -1.03098445] [-0.00283399 0.00103397 0.99999545 0.06446466] [ 0. 0. 0. 1. ]] SLAMing on 36.631652532 meters 0.2742866575563947 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998619 0.00398828 0.00342229 -0.64646497] [-0.00398229 0.99999053 -0.00175515 -1.02879092] [-0.00342926 0.00174149 0.9999926 0.0637617 ] [ 0. 0. 0. 1. ]] SLAMing on 36.661652532 meters 0.27257196684367657 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998528 0.00392926 0.00374042 -0.64693601] [-0.00392198 0.9999904 -0.00195229 -1.02828014] [-0.00374805 0.00193759 0.9999911 0.06324905] [ 0. 0. 0. 1. ]] SLAMing on 36.691652532 meters 0.27319179336858757 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 0.99998334 0.00412878 0.00403434 -0.64752816] [-0.00412185 0.99999002 -0.0017255 -1.02907854] [-0.00404142 0.00170884 0.99999037 0.06294805] [ 0. 0. 0. 1. ]] SLAMing on 36.721652532 meters 0.2795878189410975 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 9.99978078e-01 4.78014447e-03 4.58183375e-03 -6.49377821e-01] [-4.77662950e-03 9.99988289e-01 -7.77790517e-04 -1.03182911e+00] [-4.58549804e-03 7.55887744e-04 9.99989201e-01 6.36288688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751652532 meters 0.2750462597609146 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.03, Z:0.06 [[ 9.99973623e-01 5.28996909e-03 4.97682017e-03 -6.50771459e-01] [-5.28991488e-03 9.99986008e-01 -2.40566495e-05 -1.03407256e+00] [-4.97687779e-03 -2.27094003e-06 9.99987615e-01 6.41675304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781652532 meters 0.2768283806001342 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.06 [[ 9.99967612e-01 5.75790744e-03 5.62333553e-03 -6.52405304e-01] [-5.76119050e-03 9.99983243e-01 5.67805150e-04 -1.03596749e+00] [-5.61997194e-03 -6.00183867e-04 9.99984028e-01 6.41335492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811652532 meters 0.279725867892603 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.06 [[ 9.99961288e-01 6.05387883e-03 6.38539711e-03 -6.54323938e-01] [-6.05912210e-03 9.99981322e-01 8.02109334e-04 -1.03676288e+00] [-6.38042197e-03 -8.40768183e-04 9.99979291e-01 6.40761863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841652532 meters 0.28565410930613516 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993429 0.0082433 0.00796658 -0.65742165] [-0.00826342 0.99996274 0.00249539 -1.03956467] [-0.00794571 -0.00256106 0.99996515 0.06297117] [ 0. 0. 0. 1. ]] SLAMing on 36.871652532 meters 0.285328621742108 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993356 0.00801346 0.00828611 -0.65765614] [-0.0080302 0.99996578 0.00198873 -1.03812957] [-0.00826989 -0.00205514 0.99996369 0.06218248] [ 0. 0. 0. 1. ]] SLAMing on 36.901652532 meters 0.2891564154766129 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993217 0.00789731 0.00856071 -0.65783242] [-0.00791191 0.9999673 0.00167246 -1.03730887] [-0.00854722 -0.00174008 0.99996196 0.06145113] [ 0. 0. 0. 1. ]] SLAMing on 36.931652532 meters 0.29212093888926105 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993236 0.00777874 0.00864657 -0.65767428] [-0.00779128 0.99996864 0.00141754 -1.03658801] [-0.00863527 -0.00148482 0.99996161 0.06092274] [ 0. 0. 0. 1. ]] SLAMing on 36.961652532 meters 0.292241779224249 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993259 0.00773793 0.00865728 -0.65798491] [-0.00775022 0.999969 0.00138698 -1.03639178] [-0.00864628 -0.00145398 0.99996156 0.06138001] [ 0. 0. 0. 1. ]] SLAMing on 36.991652532 meters 0.2838026750376077 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99993474 0.00769413 0.00844436 -0.65768572] [-0.00770647 0.99996928 0.00142941 -1.03643247] [-0.0084331 -0.00149439 0.99996332 0.06178046] [ 0. 0. 0. 1. ]] SLAMing on 37.021652532 meters 0.28404547637121424 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.06 [[ 0.99995919 0.00370671 0.00823883 -0.65764191] [-0.00368842 0.9999907 -0.00223454 -1.03847089] [-0.00824704 0.00220406 0.99996356 0.06233145] [ 0. 0. 0. 1. ]] SLAMing on 37.051652532 meters 0.2851625531019231 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.06 [[ 0.99997144 0.00286441 0.00699333 -0.65485052] [-0.00284558 0.9999923 -0.00270069 -1.03776364] [-0.00700102 0.00268072 0.9999719 0.06278367] [ 0. 0. 0. 1. ]] SLAMing on 37.081652532 meters 0.27264818562511406 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.06 [[ 0.99998249 -0.00115618 0.00580396 -0.6530394 ] [ 0.00118996 0.99998236 -0.00581936 -1.04120651] [-0.00579713 0.00582616 0.99996622 0.06447692] [ 0. 0. 0. 1. ]] SLAMing on 37.111652532 meters 0.27532144979153356 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998643 -0.00106472 0.00510012 -0.65187546] [ 0.001092 0.9999851 -0.00534816 -1.04248646] [-0.00509435 0.00535366 0.99997269 0.06537639] [ 0. 0. 0. 1. ]] SLAMing on 37.141652532 meters 0.2727415001289699 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99988047e-01 -8.53244176e-04 4.81436320e-03 -6.51781320e-01] [ 8.76573843e-04 9.99987875e-01 -4.84581952e-03 -1.04388242e+00] [-4.81017016e-03 4.84998174e-03 9.99976670e-01 6.62819491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171652532 meters 0.2677827431025704 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99988354e-01 -8.54679461e-04 4.74980310e-03 -6.51930658e-01] [ 8.77447244e-04 9.99988127e-01 -4.79340142e-03 -1.04396246e+00] [-4.74564988e-03 4.79751330e-03 9.99977231e-01 6.67703240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201652532 meters 0.2677827431025704 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99988354e-01 -8.54679461e-04 4.74980310e-03 -6.51930658e-01] [ 8.77447244e-04 9.99988127e-01 -4.79340142e-03 -1.04396246e+00] [-4.74564988e-03 4.79751330e-03 9.99977231e-01 6.67703240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231652532 meters 0.27440995671511403 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998711 0.00289434 0.00417105 -0.65056484] [-0.00288973 0.99999521 -0.00111069 -1.04228001] [-0.00417425 0.00109863 0.99999068 0.06695597] [ 0. 0. 0. 1. ]] SLAMing on 37.261652532 meters 0.2685481802043496 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99986316e-01 3.02255853e-03 4.26994707e-03 -6.50720937e-01] [-3.01861987e-03 9.99995013e-01 -9.28558416e-04 -1.04291852e+00] [-4.27273240e-03 9.15656362e-04 9.99990453e-01 6.67546062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291652532 meters 0.27241890165415983 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998604 0.00295837 0.00437888 -0.65083385] [-0.00295363 0.99999505 -0.00108789 -1.04245262] [-0.00438208 0.00107494 0.99998982 0.06651127] [ 0. 0. 0. 1. ]] SLAMing on 37.321652532 meters 0.27489906427683314 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99981075e-01 3.29171433e-03 5.19750310e-03 -6.52631317e-01] [-3.28675825e-03 9.99994136e-01 -9.61805008e-04 -1.04270686e+00] [-5.20063861e-03 9.44703870e-04 9.99986030e-01 6.60375868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351652532 meters 0.2751330204954627 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99979029e-01 3.43490079e-03 5.49028139e-03 -6.53436666e-01] [-3.43056009e-03 9.99993796e-01 -7.99837625e-04 -1.04322463e+00] [-5.49299469e-03 7.80986112e-04 9.99984608e-01 6.60767120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381652532 meters 0.27383218294955947 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99977312e-01 3.54345731e-03 5.72883042e-03 -6.54301334e-01] [-3.53972766e-03 9.99993517e-01 -6.61039257e-04 -1.04360676e+00] [-5.73113564e-03 6.40745760e-04 9.99983372e-01 6.64406029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411652532 meters 0.275933315886455 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99974999e-01 3.57552984e-03 6.10060875e-03 -6.55390747e-01] [-3.57127635e-03 9.99993372e-01 -7.07974351e-04 -1.04340062e+00] [-6.10309970e-03 6.86169691e-04 9.99981140e-01 6.66429766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441652532 meters 0.27678248203837125 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99966355e-01 4.02053420e-03 7.15015453e-03 -6.57851216e-01] [-4.01660743e-03 9.99991775e-01 -5.63461410e-04 -1.04356323e+00] [-7.15236113e-03 5.34723089e-04 9.99974279e-01 6.63345858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471652532 meters 0.2779834336652511 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99961241e-01 4.15533081e-03 7.76203098e-03 -6.59214087e-01] [-4.15119631e-03 9.99991233e-01 -5.48692949e-04 -1.04372917e+00] [-7.76424293e-03 5.16449968e-04 9.99969724e-01 6.60171213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501652532 meters 0.27972213465175183 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99958498e-01 4.14510586e-03 8.11302784e-03 -6.59836430e-01] [-4.13975442e-03 9.99991202e-01 -6.76292746e-04 -1.04342258e+00] [-8.11575977e-03 6.42678735e-04 9.99966860e-01 6.56017718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531652532 meters 0.2788564089562683 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99959965e-01 4.00437828e-03 8.00211539e-03 -6.59504105e-01] [-3.99741051e-03 9.99991617e-01 -8.86545283e-04 -1.04270838e+00] [-8.00559837e-03 8.54522050e-04 9.99967590e-01 6.55316518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561652532 meters 0.28344077173641735 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99961223e-01 3.96966689e-03 7.86097465e-03 -6.58934834e-01] [-3.96255944e-03 9.99991726e-01 -9.19512129e-04 -1.04262625e+00] [-7.86455977e-03 8.88326894e-04 9.99968679e-01 6.51685912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591652532 meters 0.27927499114107834 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 9.99962658e-01 3.98151103e-03 7.67003137e-03 -6.58585112e-01] [-3.97519508e-03 9.99991747e-01 -8.38527611e-04 -1.04281864e+00] [-7.67330667e-03 8.08006428e-04 9.99970233e-01 6.53556354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621652532 meters 0.27715661291628757 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.9999663 0.00350279 0.00742458 -0.65817323] [-0.0034918 0.99999279 -0.00149255 -1.04081396] [-0.00742975 0.00146657 0.99997132 0.06581401] [ 0. 0. 0. 1. ]] SLAMing on 37.651652532 meters 0.27292309990002767 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99997217 0.00327398 0.00670397 -0.65661359] [-0.00326365 0.99999347 -0.00155132 -1.04063258] [-0.00670901 0.0015294 0.99997632 0.06620953] [ 0. 0. 0. 1. ]] SLAMing on 37.681652532 meters 0.27338161652428944 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99997537 0.0033571 0.00616288 -0.65551016] [-0.00334968 0.99999365 -0.0012149 -1.04158218] [-0.00616692 0.00119422 0.99998027 0.06656647] [ 0. 0. 0. 1. ]] SLAMing on 37.711652532 meters 0.2745979111624591 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99978422e-01 3.44307880e-03 5.59479261e-03 -6.54666662e-01] [-3.43866365e-03 9.99993769e-01 -7.98581385e-04 -1.04263736e+00] [-5.59750732e-03 7.79325543e-04 9.99984030e-01 6.74370159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741652532 meters 0.26651904211463223 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99987723e-01 2.76609738e-03 4.11132684e-03 -6.52110810e-01] [-2.76449184e-03 9.99996100e-01 -3.96145784e-04 -1.04402602e+00] [-4.11240658e-03 3.84775191e-04 9.99991470e-01 6.94514172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771652532 meters 0.2755244566757301 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99988539e-01 2.97823173e-03 3.74868801e-03 -6.51682583e-01] [-2.97870425e-03 9.99995556e-01 1.20470570e-04 -1.04552379e+00] [-3.74831256e-03 -1.31635422e-04 9.99992966e-01 7.01407543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801652532 meters 0.27251459391061056 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99988485e-01 3.07920074e-03 3.68069960e-03 -6.51458777e-01] [-3.08040424e-03 9.99995204e-01 3.21350906e-04 -1.04621512e+00] [-3.67969244e-03 -3.32685248e-04 9.99993175e-01 7.00504360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831652532 meters 0.26594269488611905 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99988597e-01 2.96116365e-03 3.74656889e-03 -6.51447867e-01] [-2.96153620e-03 9.99995610e-01 9.38927296e-05 -1.04553271e+00] [-3.74627441e-03 -1.04987258e-04 9.99992977e-01 6.98105320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861652532 meters 0.2626447113703981 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99996512e-01 4.12176179e-04 2.60885326e-03 -6.48643757e-01] [-4.06415559e-04 9.99997479e-01 -2.20824948e-03 -1.04207924e+00] [-2.60975687e-03 2.20718150e-03 9.99994159e-01 6.97239911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891652532 meters 0.26003803830166755 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99997882e-01 4.84731836e-04 2.00009804e-03 -6.47682478e-01] [-4.81059723e-04 9.99998199e-01 -1.83603912e-03 -1.04305866e+00] [-2.00098442e-03 1.83507307e-03 9.99996314e-01 7.05859750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921652532 meters 0.26177001787480414 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99997102e-01 8.90516768e-04 2.23685088e-03 -6.48568092e-01] [-8.87870309e-04 9.99998905e-01 -1.18383271e-03 -1.04507177e+00] [-2.23790265e-03 1.18184324e-03 9.99996798e-01 7.09702280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951652532 meters 0.26642543473251873 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.9999849 0.00489033 0.00250788 -0.64895204] [-0.00489663 0.99998486 0.00251111 -1.0430418 ] [-0.00249556 -0.00252335 0.9999937 0.07066553] [ 0. 0. 0. 1. ]] SLAMing on 37.981652532 meters 0.2656561389328926 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998392 0.0048758 0.00289674 -0.64971287] [-0.0048827 0.99998525 0.00237711 -1.04271786] [-0.0028851 -0.00239121 0.99999298 0.07033639] [ 0. 0. 0. 1. ]] SLAMing on 38.011652532 meters 0.2637279154478365 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998481 0.0047952 0.00271641 -0.64916463] [-0.00480147 0.99998582 0.00230335 -1.04255544] [-0.00270532 -0.00231636 0.99999366 0.07026461] [ 0. 0. 0. 1. ]] SLAMing on 38.041652532 meters 0.2633813878502571 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998597 0.00474687 0.0023491 -0.64838271] [-0.00475236 0.99998597 0.00233783 -1.04260944] [-0.00233797 -0.00234897 0.99999451 0.07052506] [ 0. 0. 0. 1. ]] SLAMing on 38.071652532 meters 0.2596834010918088 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998986 0.00430005 0.00133859 -0.64619803] [-0.00430321 0.99998794 0.00236693 -1.0429713 ] [-0.00132839 -0.00237266 0.9999963 0.07126113] [ 0. 0. 0. 1. ]] SLAMing on 38.101652532 meters 0.2603472072892349 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99990871e-01 4.16935110e-03 9.35082018e-04 -6.45090484e-01] [-4.17146621e-03 9.99988719e-01 2.27152123e-03 -1.04269092e+00] [-9.25600700e-04 -2.27540116e-03 9.99996983e-01 7.11937908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131652532 meters 0.2587375060330422 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.04, Z:0.07 [[ 9.99994776e-01 3.18366124e-03 5.58407049e-04 -6.42809832e-01] [-3.18412626e-03 9.99994583e-01 8.33861668e-04 -1.03917131e+00] [-5.55749291e-04 -8.35635351e-04 9.99999496e-01 6.94171917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161652532 meters 0.25763272479914245 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.04, Z:0.07 [[ 9.99995216e-01 3.00745261e-03 7.22876047e-04 -6.42962067e-01] [-3.00781559e-03 9.99995351e-01 5.01566476e-04 -1.03821232e+00] [-7.21364249e-04 -5.03738355e-04 9.99999613e-01 6.90776233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191652532 meters 0.2582257250319278 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.04, Z:0.07 [[ 9.99995886e-01 2.80995145e-03 5.76487169e-04 -6.42514274e-01] [-2.81007525e-03 9.99996029e-01 2.14055112e-04 -1.03731643e+00] [-5.75883395e-04 -2.15674204e-04 9.99999811e-01 6.90425234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221652532 meters 0.263173692035394 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.04, Z:0.07 [[ 9.99995708e-01 2.85355838e-03 6.64777882e-04 -6.42829796e-01] [-2.85374739e-03 9.99995888e-01 2.83544043e-04 -1.03753080e+00] [-6.63966039e-04 -2.85439934e-04 9.99999739e-01 6.91875478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251652532 meters 0.2550163665035051 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.04, Z:0.07 [[ 9.99994823e-01 3.07921808e-03 9.34477366e-04 -6.44238812e-01] [-3.07982643e-03 9.99995046e-01 6.50264776e-04 -1.03848182e+00] [-9.32470430e-04 -6.53139437e-04 9.99999352e-01 7.02634894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281652532 meters 0.25662726978403744 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99992444e-01 3.45903551e-03 1.77423135e-03 -6.46330527e-01] [-3.46086118e-03 9.99993484e-01 1.02695561e-03 -1.03962225e+00] [-1.77066751e-03 -1.03308822e-03 9.99997899e-01 7.02221348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311652532 meters 0.2601930502665758 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998982 0.00365653 0.00264358 -0.64822756] [-0.00365938 0.99999273 0.00107335 -1.0399081 ] [-0.00263964 -0.00108301 0.99999593 0.06975716] [ 0. 0. 0. 1. ]] SLAMing on 38.341652532 meters 0.2641428599292166 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99983222e-01 4.15894497e-03 4.03212146e-03 -6.50828323e-01] [-4.16240594e-03 9.99990976e-01 8.50338307e-04 -1.03922393e+00] [-4.02854856e-03 -8.67107366e-04 9.99991509e-01 6.83107486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371652532 meters 0.2668694513230979 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 9.99977826e-01 4.46772207e-03 4.93827102e-03 -6.52981629e-01] [-4.47272832e-03 9.99989494e-01 1.00318817e-03 -1.03973967e+00] [-4.93373717e-03 -1.02525347e-03 9.99987303e-01 6.80797612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401652532 meters 0.272644310644562 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.9999683 0.00509474 0.00611874 -0.65611617] [-0.00510384 0.99998589 0.00147259 -1.04068433] [-0.00611115 -0.00150377 0.9999802 0.06842129] [ 0. 0. 0. 1. ]] SLAMing on 38.431652532 meters 0.26638407996425006 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99997673 0.00114345 0.00672548 -0.65819927] [-0.00112731 0.99999647 -0.00240407 -1.04193352] [-0.00672821 0.00239644 0.99997449 0.06917641] [ 0. 0. 0. 1. ]] SLAMing on 38.461652532 meters 0.2736031089350068 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99997832 0.00113804 0.00648603 -0.65771221] [-0.00112299 0.99999667 -0.0023236 -1.04213055] [-0.00648865 0.00231627 0.99997627 0.06935635] [ 0. 0. 0. 1. ]] SLAMing on 38.491652532 meters 0.27561515067734427 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99997752 0.00166697 0.00649489 -0.65738182] [-0.00165725 0.9999975 -0.00150212 -1.04455459] [-0.00649738 0.00149132 0.99997778 0.06870022] [ 0. 0. 0. 1. ]] SLAMing on 38.521652532 meters 0.26673868625061703 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.04, Z:0.07 [[ 0.99998175 0.0015484 0.00583948 -0.65576966] [-0.00154018 0.99999782 -0.00141098 -1.04486784] [-0.00584165 0.00140196 0.99998195 0.0687531 ] [ 0. 0. 0. 1. ]] SLAMing on 38.551652532 meters 0.270363027250031 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998768 0.00113708 0.00483093 -0.65332938] [-0.00112916 0.99999802 -0.00164068 -1.04444447] [-0.00483279 0.0016352 0.99998699 0.06889594] [ 0. 0. 0. 1. ]] SLAMing on 38.581652532 meters 0.26866843339225055 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.04, Z:0.07 [[ 0.99998983 0.00111309 0.00437044 -0.65222762] [-0.00110637 0.9999982 -0.00153935 -1.04470584] [-0.00437215 0.0015345 0.99998926 0.06897879] [ 0. 0. 0. 1. ]] SLAMing on 38.611652532 meters 0.2612982692985888 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 0.99999108 0.00125395 0.00403347 -0.65171233] [-0.00124926 0.99999854 -0.00116591 -1.04577782] [-0.00403493 0.00116086 0.99999119 0.06944452] [ 0. 0. 0. 1. ]] SLAMing on 38.641652532 meters 0.2643057136691008 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99991275e-01 1.46956601e-03 3.91038837e-03 -6.52052812e-01] [-1.46680342e-03 9.99998673e-01 -7.09249076e-04 -1.04703948e+00] [-3.91142547e-03 7.03507117e-04 9.99992103e-01 7.03854726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671652532 meters 0.2630032109655616 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99991983e-01 1.57047337e-03 3.68331858e-03 -6.51855921e-01] [-1.56881114e-03 9.99998666e-01 -4.54131302e-04 -1.04771559e+00] [-3.68402686e-03 4.48349230e-04 9.99993113e-01 7.09504831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701652532 meters 0.2604173795638909 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99992695e-01 1.66483641e-03 3.44079156e-03 -6.51637008e-01] [-1.66411160e-03 9.99998593e-01 -2.13503295e-04 -1.04833202e+00] [-3.44114217e-03 2.07775874e-04 9.99994058e-01 7.15049144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731652532 meters 0.261723599293166 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99991906e-01 1.83837497e-03 3.57882554e-03 -6.51875209e-01] [-1.83862136e-03 9.99998308e-01 6.55579555e-05 -1.04928513e+00] [-3.57869897e-03 -7.21375300e-05 9.99993594e-01 7.13091921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761652532 meters 0.2598472023143261 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99994129e-01 1.32204402e-03 3.16124754e-03 -6.50647106e-01] [-1.31994393e-03 9.99998907e-01 -6.66317457e-04 -1.04716869e+00] [-3.16212499e-03 6.62140876e-04 9.99994781e-01 7.10736806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791652532 meters 0.26255190236404724 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99991953e-01 1.46984932e-03 3.73280737e-03 -6.51619481e-01] [-1.46707473e-03 9.99998646e-01 -7.45927785e-04 -1.04698948e+00] [-3.73389871e-03 7.40445475e-04 9.99992755e-01 7.02994153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821652532 meters 0.2613818407597971 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99991470e-01 1.66172137e-03 3.78122925e-03 -6.52248841e-01] [-1.66018131e-03 9.99998538e-01 -4.10393176e-04 -1.04789427e+00] [-3.78190568e-03 4.04112150e-04 9.99992767e-01 7.10201686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851652532 meters 0.26217846978227954 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.05, Z:0.07 [[ 9.99988814e-01 2.02104283e-03 4.27643973e-03 -6.53934365e-01] [-2.02150416e-03 9.99997951e-01 1.03556727e-04 -1.04936087e+00] [-4.27622167e-03 -1.12200409e-04 9.99990851e-01 7.16664255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881652532 meters 0.2643693367522077 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99984196e-01 2.44719170e-03 5.06158364e-03 -6.56004002e-01] [-2.45012648e-03 9.99996834e-01 5.73694975e-04 -1.05070315e+00] [-5.06016367e-03 -5.86087429e-04 9.99987026e-01 7.17962051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911652532 meters 0.26662153227385627 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99981170e-01 2.49453545e-03 5.60691525e-03 -6.56932453e-01] [-2.49691235e-03 9.99996796e-01 4.16961589e-04 -1.05041398e+00] [-5.60585716e-03 -4.30953713e-04 9.99984194e-01 7.11029084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941652532 meters 0.268905126450463 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99978463e-01 2.71782249e-03 5.97391258e-03 -6.57608500e-01] [-2.72184247e-03 9.99996075e-01 6.64894513e-04 -1.05127454e+00] [-5.97208207e-03 -6.81140242e-04 9.99981935e-01 7.06571767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971652532 meters 0.26959046442248413 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99977131e-01 2.81322417e-03 6.14999541e-03 -6.57987209e-01] [-2.81789169e-03 9.99995748e-01 7.50413475e-04 -1.05157759e+00] [-6.14785818e-03 -7.67726335e-04 9.99980807e-01 7.05083548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001652532 meters 0.2710060905150577 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99974761e-01 3.02363107e-03 6.42921404e-03 -6.58932856e-01] [-3.03033748e-03 9.99994874e-01 1.03362960e-03 -1.05239973e+00] [-6.42605577e-03 -1.05308620e-03 9.99978798e-01 7.08094566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031652532 meters 0.27059614349021965 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99973928e-01 2.93683540e-03 6.59679422e-03 -6.59260327e-01] [-2.94238681e-03 9.99995325e-01 8.31983330e-04 -1.05178864e+00] [-6.59431998e-03 -8.51371960e-04 9.99977895e-01 7.06924265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061652532 meters 0.27037284570319103 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99972900e-01 2.92561171e-03 6.75576334e-03 -6.59393831e-01] [-2.93076365e-03 9.99995422e-01 7.52824886e-04 -1.05164103e+00] [-6.75352994e-03 -7.72604030e-04 9.99976896e-01 7.02771844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091652532 meters 0.274947831919689 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99971310e-01 2.95849764e-03 6.97325586e-03 -6.59433367e-01] [-2.96351073e-03 9.99995358e-01 7.08679667e-04 -1.05168699e+00] [-6.97112686e-03 -7.29324653e-04 9.99975435e-01 6.94761148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121652532 meters 0.274947831919689 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99971310e-01 2.95849764e-03 6.97325586e-03 -6.59433367e-01] [-2.96351073e-03 9.99995358e-01 7.08679667e-04 -1.05168699e+00] [-6.97112686e-03 -7.29324653e-04 9.99975435e-01 6.94761148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151652532 meters 0.27720416781559293 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99967913e-01 2.85665707e-03 7.48409472e-03 -6.60294987e-01] [-2.85913758e-03 9.99995861e-01 3.20759775e-04 -1.05054108e+00] [-7.48314744e-03 -3.42147539e-04 9.99971942e-01 6.88442945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181652532 meters 0.2761284938295086 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99964767e-01 2.98317591e-03 7.84639085e-03 -6.60939145e-01] [-2.98643043e-03 9.99995459e-01 4.03095873e-04 -1.05095593e+00] [-7.84515271e-03 -4.26514371e-04 9.99969135e-01 6.83958734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211652532 meters 0.2781095866721601 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99963505e-01 2.95316690e-03 8.01668052e-03 -6.61420172e-01] [-2.95566314e-03 9.99995587e-01 2.99550108e-04 -1.05059548e+00] [-8.01576053e-03 -3.23233783e-04 9.99967821e-01 6.84625265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241652532 meters 0.2771383906626248 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99969072e-01 2.49509988e-03 7.45854731e-03 -6.60492374e-01] [-2.49389794e-03 9.99996876e-01 -1.70446014e-04 -1.04929426e+00] [-7.45894929e-03 1.51839887e-04 9.99972170e-01 6.91956926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271652532 meters 0.27652479528691193 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99968564e-01 2.80729322e-03 7.41551733e-03 -6.60699468e-01] [-2.81020530e-03 9.99995978e-01 3.82310775e-04 -1.05097091e+00] [-7.41441424e-03 -4.03137883e-04 9.99972432e-01 6.95838167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301652532 meters 0.2824138921918118 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99967475e-01 2.90841407e-03 7.52270111e-03 -6.60977271e-01] [-2.91245042e-03 9.99995621e-01 5.25655536e-04 -1.05144346e+00] [-7.52113934e-03 -5.47547933e-04 9.99971566e-01 6.95596734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331652532 meters 0.2782702152843405 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99972048e-01 2.44166375e-03 7.06687626e-03 -6.59515829e-01] [-2.44133416e-03 9.99997018e-01 -5.52649015e-05 -1.04983830e+00] [-7.06699013e-03 3.80107503e-05 9.99975028e-01 6.91503347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361652532 meters 0.27615622891733865 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99972719e-01 2.64070738e-03 6.89845257e-03 -6.58997589e-01] [-2.64304522e-03 9.99996453e-01 3.29798647e-04 -1.05110637e+00] [-6.89755720e-03 -3.48022571e-04 9.99976151e-01 6.89552357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391652532 meters 0.2685290200966546 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99978916e-01 2.36535364e-03 6.04758878e-03 -6.57142799e-01] [-2.36678519e-03 9.99997173e-01 2.29568031e-04 -1.05080812e+00] [-6.04702868e-03 -2.43876534e-04 9.99981687e-01 6.94203702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421652532 meters 0.2733703625711324 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 9.99978595e-01 2.56644830e-03 6.01848366e-03 -6.57350349e-01] [-2.57006904e-03 9.99996521e-01 5.93946893e-04 -1.05190464e+00] [-6.01693839e-03 -6.09402099e-04 9.99981712e-01 6.97982205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451652532 meters 0.27198769344325796 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 0.99995545 0.0069001 0.00644132 -0.65888931] [-0.00693155 0.99996411 0.0048725 -1.05154908] [-0.00640747 -0.00491693 0.99996738 0.07054605] [ 0. 0. 0. 1. ]] SLAMing on 39.481652532 meters 0.3012000262330384 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 0.99994489 0.00720769 0.00763286 -0.66159403] [-0.00724485 0.99996199 0.00485178 -1.05153176] [-0.0075976 -0.00490681 0.9999591 0.07006819] [ 0. 0. 0. 1. ]] SLAMing on 39.511652532 meters 0.2741881887800447 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.05, Z:0.07 [[ 0.99993753 0.00734165 0.00842855 -0.66324218] [-0.00738211 0.99996133 0.00477886 -1.05145327] [-0.00839314 -0.00484078 0.99995306 0.06951297] [ 0. 0. 0. 1. ]] SLAMing on 39.541652532 meters 0.30692176374888364 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.05, Z:0.07 [[ 0.99992719 0.00755621 0.00940846 -0.66538959] [-0.00760065 0.99996009 0.00469642 -1.05122211] [-0.0093726 -0.00476759 0.99994471 0.06905336] [ 0. 0. 0. 1. ]] SLAMing on 39.571652532 meters 0.31459596872888074 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.05, Z:0.07 [[ 0.99992361 0.00779 0.00959664 -0.66605123] [-0.00783895 0.9999564 0.00507337 -1.05239646] [-0.0095567 -0.00514821 0.99994108 0.06932441] [ 0. 0. 0. 1. ]] SLAMing on 39.601652532 meters 0.31164575310721004 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.05, Z:0.07 [[ 0.99992001 0.00825977 0.00957844 -0.66639039] [-0.00831653 0.999948 0.00590143 -1.05496367] [-0.0095292 -0.00598062 0.99993671 0.0698672 ] [ 0. 0. 0. 1. ]] SLAMing on 39.631652532 meters 0.3130379023000545 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.06, Z:0.07 [[ 0.99994637 0.00442169 0.00936524 -0.66627594] [-0.00444435 0.99998724 0.00239994 -1.0575593 ] [-0.00935451 -0.00244143 0.99995327 0.0703461 ] [ 0. 0. 0. 1. ]] SLAMing on 39.661652532 meters 0.29677418132430333 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.06, Z:0.07 [[ 0.99994947 0.0044638 0.00900678 -0.66508621] [-0.00448717 0.99998661 0.00257661 -1.0582446 ] [-0.00899516 -0.00261689 0.99995612 0.06992336] [ 0. 0. 0. 1. ]] SLAMing on 39.691652532 meters 0.3058804134454842 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99995207 0.00434228 0.00877453 -0.66431454] [-0.00436374 0.99998753 0.00242868 -1.05781258] [-0.00876388 -0.00246685 0.99995855 0.069693 ] [ 0. 0. 0. 1. ]] SLAMing on 39.721652532 meters 0.2953303099968643 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99995889 0.0039744 0.00815017 -0.66293179] [-0.00399182 0.99998978 0.00212217 -1.05684836] [-0.00814165 -0.00215461 0.99996453 0.07009762] [ 0. 0. 0. 1. ]] SLAMing on 39.751652532 meters 0.2943165466581899 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99996037 0.00400273 0.00795195 -0.66245989] [-0.00402069 0.9999894 0.00224418 -1.05722676] [-0.00794288 -0.00227606 0.99996586 0.07015174] [ 0. 0. 0. 1. ]] SLAMing on 39.781652532 meters 0.3001792447731341 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 9.99976690e-01 -5.75921259e-04 6.80355395e-03 -6.60529826e-01] [ 5.87828829e-04 9.99998299e-01 -1.74832858e-03 -1.05801474e+00] [-6.80253547e-03 1.75228715e-03 9.99975327e-01 7.15771653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811652532 meters 0.2869710833068564 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 9.99984320e-01 -7.79749002e-04 5.54550258e-03 -6.58106172e-01] [ 7.86849887e-04 9.99998873e-01 -1.27840992e-03 -1.05931353e+00] [-5.54449949e-03 1.28275335e-03 9.99983806e-01 7.27242486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841652532 meters 0.2718150739821723 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 9.99990180e-01 -1.05324403e-03 4.30469126e-03 -6.55699371e-01] [ 1.05710522e-03 9.99999041e-01 -8.94795074e-04 -1.06043667e+00] [-4.30374470e-03 8.99336798e-04 9.99990334e-01 7.38516614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871652532 meters 0.2817928809421807 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.07 [[ 9.99993968e-01 -1.08171806e-03 3.30065022e-03 -6.53872844e-01] [ 1.08298793e-03 9.99999340e-01 -3.82969313e-04 -1.06184297e+00] [-3.30023378e-03 3.86541567e-04 9.99994480e-01 7.49277846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901652532 meters 0.27122061608085185 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 9.99996192e-01 -1.07375217e-03 2.54240049e-03 -6.52493850e-01] [ 1.07406359e-03 9.99999416e-01 -1.21125872e-04 -1.06245771e+00] [-2.54226894e-03 1.23856110e-04 9.99996761e-01 7.57178936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931652532 meters 0.2669033647394776 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 9.99996769e-01 -1.34311173e-03 2.15809021e-03 -6.51122923e-01] [ 1.34410163e-03 9.99998992e-01 -4.57306596e-04 -1.06160321e+00] [-2.15747382e-03 4.60205811e-04 9.99997567e-01 7.51122501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961652532 meters 0.2632847152773789 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.07 [[ 0.99999676 -0.0017306 0.00186718 -0.64994496] [ 0.00173259 0.99999793 -0.00106808 -1.05981419] [-0.00186533 0.00107131 0.99999769 0.07450354] [ 0. 0. 0. 1. ]] SLAMing on 39.991652532 meters 0.2707083053580362 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.07 [[ 9.99996624e-01 -1.58988317e-03 2.05553556e-03 -6.50505141e-01] [ 1.59167141e-03 9.99998356e-01 -8.68615708e-04 -1.06043139e+00] [-2.05415118e-03 8.71884512e-04 9.99997510e-01 7.45810161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021652532 meters 0.2760264294086118 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 9.99996618e-01 -1.34658488e-03 2.22522481e-03 -6.51279604e-01] [ 1.34767993e-03 9.99998971e-01 -4.90679117e-04 -1.06152395e+00] [-2.22456178e-03 4.93676348e-04 9.99997404e-01 7.50530697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051652532 meters 0.26596936525970594 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 9.99995837e-01 -6.90450698e-04 2.80157023e-03 -6.53047416e-01] [ 6.89307872e-04 9.99999679e-01 4.08868345e-04 -1.06395760e+00] [-2.80185163e-03 -4.06935499e-04 9.99995992e-01 7.55830542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081652532 meters 0.2647795993978574 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 9.99996713e-01 -6.50198836e-04 2.48014198e-03 -6.52557858e-01] [ 6.48738468e-04 9.99999616e-01 5.89583575e-04 -1.06439541e+00] [-2.48052438e-03 -5.87972673e-04 9.99996751e-01 7.60517205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111652532 meters 0.2626529943751687 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.06, Z:0.08 [[ 0.99999057 0.00366863 0.00232469 -0.65174996] [-0.00368009 0.99998101 0.00494414 -1.06464829] [-0.00230651 -0.00495265 0.99998508 0.07551166] [ 0. 0. 0. 1. ]] SLAMing on 40.141652532 meters 0.26313093629171125 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.07, Z:0.08 [[ 0.99998802 0.00398734 0.00283873 -0.65309536] [-0.00400249 0.99997767 0.00535182 -1.06591265] [-0.00281733 -0.00536312 0.99998165 0.07555405] [ 0. 0. 0. 1. ]] SLAMing on 40.171652532 meters 0.2676898352217528 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.07, Z:0.08 [[ 0.99998483 0.00415184 0.00361911 -0.65482992] [-0.00417118 0.99997698 0.00535264 -1.0660274 ] [-0.0035968 -0.00536765 0.99997913 0.0752093 ] [ 0. 0. 0. 1. ]] SLAMing on 40.201652532 meters 0.2660990890806141 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.07, Z:0.07 [[ 0.9999827 0.00415442 0.00416366 -0.65600323] [-0.00417599 0.99997783 0.00518637 -1.06560102] [-0.00414202 -0.00520367 0.99997788 0.07491294] [ 0. 0. 0. 1. ]] SLAMing on 40.231652532 meters 0.26862056033924053 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.07, Z:0.07 [[ 0.99997891 0.0043107 0.00485785 -0.65718151] [-0.00433518 0.9999779 0.00504132 -1.06532425] [-0.00483601 -0.00506227 0.99997549 0.07403499] [ 0. 0. 0. 1. ]] SLAMing on 40.261652532 meters 0.26880197692107893 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.07, Z:0.07 [[ 0.99997723 0.00433648 0.00517115 -0.65770284] [-0.00436227 0.99997805 0.00498626 -1.06528326] [-0.00514941 -0.00500871 0.9999742 0.07362421] [ 0. 0. 0. 1. ]] SLAMing on 40.291652532 meters 0.2690347938136576 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99997527 0.00427934 0.00558029 -0.65842318] [-0.00430585 0.99997945 0.00474906 -1.06466992] [-0.00555986 -0.00477297 0.99997315 0.07317374] [ 0. 0. 0. 1. ]] SLAMing on 40.321652532 meters 0.2701834789747409 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99997362 0.00423382 0.00590177 -0.6590832 ] [-0.00426087 0.99998045 0.00457724 -1.0641823 ] [-0.00588228 -0.00460226 0.99997211 0.07296458] [ 0. 0. 0. 1. ]] SLAMing on 40.351652532 meters 0.27449954975541646 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99996806 0.00423209 0.00677988 -0.66068089] [-0.00425971 0.99998267 0.00406455 -1.06272192] [-0.00676256 -0.0040933 0.99996876 0.07204345] [ 0. 0. 0. 1. ]] SLAMing on 40.381652532 meters 0.2741105869069826 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99996476 0.00412499 0.00731165 -0.66177576] [-0.00415212 0.99998454 0.00369951 -1.06168042] [-0.00729628 -0.00372974 0.99996643 0.07171666] [ 0. 0. 0. 1. ]] SLAMing on 40.411652532 meters 0.27608533765259646 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99996104 0.00406747 0.0078346 -0.66289998] [-0.00409423 0.99998583 0.00340373 -1.06083791] [-0.00782064 -0.00343568 0.99996352 0.07144627] [ 0. 0. 0. 1. ]] SLAMing on 40.441652532 meters 0.2733267834899308 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99996 0.00412289 0.00793668 -0.66311938] [-0.0041506 0.99998534 0.00347775 -1.06111977] [-0.00792223 -0.00351055 0.99996246 0.07140283] [ 0. 0. 0. 1. ]] SLAMing on 40.471652532 meters 0.2735638400178237 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99995615 0.00452598 0.00819846 -0.66397469] [-0.00455997 0.99998106 0.00413258 -1.06319157] [-0.0081796 -0.00416978 0.99995785 0.07167915] [ 0. 0. 0. 1. ]] SLAMing on 40.501652532 meters 0.2739407020838168 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.06, Z:0.07 [[ 0.99995506 0.00446668 0.00836273 -0.66462532] [-0.00450022 0.99998189 0.00399613 -1.06270791] [-0.00834472 -0.00403359 0.99995705 0.072093 ] [ 0. 0. 0. 1. ]] SLAMing on 40.531652532 meters 0.2767312767440503 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.06, Z:0.07 [[ 0.99994947 0.00473174 0.0088697 -0.66573612] [-0.00476999 0.9999794 0.00429608 -1.06377764] [-0.00884919 -0.00433817 0.99995143 0.07181994] [ 0. 0. 0. 1. ]] SLAMing on 40.561652532 meters 0.27904331008943334 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.06, Z:0.07 [[ 0.99993684 0.00539719 0.0098585 -0.6672555 ] [-0.00544025 0.99997576 0.00434611 -1.0636259 ] [-0.0098348 -0.00439947 0.99994196 0.0702895 ] [ 0. 0. 0. 1. ]] SLAMing on 40.591652532 meters 0.28243271895596406 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.06, Z:0.07 [[ 0.99992809 0.00552983 0.01064095 -0.66898654] [-0.00557416 0.99997589 0.00414012 -1.06306951] [-0.0106178 -0.00419914 0.99993481 0.06989397] [ 0. 0. 0. 1. ]] SLAMing on 40.621652532 meters 0.2875925745207555 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.07, Z:0.07 [[ 0.99990351 0.00677239 0.01212858 -0.67281198] [-0.00683371 0.99996404 0.00502147 -1.06505163] [-0.01209413 -0.00510387 0.99991384 0.06992092] [ 0. 0. 0. 1. ]] SLAMing on 40.651652532 meters 0.2936567217162532 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99987057 0.00844257 0.01369522 -0.67661786] [-0.00853102 0.99994305 0.00641247 -1.06776787] [-0.01364031 -0.00652848 0.99988565 0.06986837] [ 0. 0. 0. 1. ]] SLAMing on 40.681652532 meters 0.30044101660298 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99986563 0.00836171 0.01409967 -0.67756632] [-0.00844877 0.99994554 0.00612666 -1.06691368] [-0.01404768 -0.00624496 0.99988182 0.06980168] [ 0. 0. 0. 1. ]] SLAMing on 40.711652532 meters 0.2924601337284557 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99986686 0.00827705 0.01406217 -0.67747064] [-0.00836183 0.99994715 0.00598077 -1.06643572] [-0.01401192 -0.00609756 0.99988324 0.06983334] [ 0. 0. 0. 1. ]] SLAMing on 40.741652532 meters 0.2908895935056253 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99985928 0.00868869 0.01435033 -0.67828328] [-0.00878465 0.99993939 0.00663718 -1.06854307] [-0.0142918 -0.00676231 0.999875 0.06993579] [ 0. 0. 0. 1. ]] SLAMing on 40.771652532 meters 0.2926407948208109 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99984691 0.00943958 0.01473252 -0.67929962] [-0.00955531 0.99992389 0.00780497 -1.07199352] [-0.01465773 -0.00794454 0.99986101 0.0700359 ] [ 0. 0. 0. 1. ]] SLAMing on 40.801652532 meters 0.30192331984227627 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99986506 0.00550152 0.01547893 -0.68134702] [-0.0055614 0.99997721 0.00382807 -1.07313724] [-0.01545752 -0.00391364 0.99987287 0.07016906] [ 0. 0. 0. 1. ]] SLAMing on 40.831652532 meters 0.2918673606163546 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.99986925 0.00528979 0.01528069 -0.68062151] [-0.00534377 0.99997962 0.00349401 -1.07211139] [-0.0152619 -0.00357521 0.99987714 0.06987509] [ 0. 0. 0. 1. ]] SLAMing on 40.861652532 meters 0.2946525879752291 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 0.9998738 0.00559443 0.01486917 -0.67930683] [-0.00565591 0.99997562 0.00409564 -1.07406226] [-0.01484589 -0.00417923 0.99988106 0.06936213] [ 0. 0. 0. 1. ]] SLAMing on 40.891652532 meters 0.3002580403114367 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.9998774 0.00592303 0.01449465 -0.67818628] [-0.00599289 0.99997062 0.00478062 -1.07636264] [-0.01446591 -0.0048669 0.99988352 0.06903816] [ 0. 0. 0. 1. ]] SLAMing on 40.921652532 meters 0.29503943403503924 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 9.99898571e-01 1.53105243e-03 1.41599206e-02 -6.76961719e-01] [-1.53520035e-03 9.99998782e-01 2.82068437e-04 -1.07591306e+00] [-1.41594715e-02 -3.03778142e-04 9.99899704e-01 6.83898899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951652532 meters 0.29070861375277574 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 9.99898425e-01 1.75054551e-03 1.41448091e-02 -6.77144260e-01] [-1.76045360e-03 9.99998214e-01 6.88054710e-04 -1.07716798e+00] [-1.41435793e-02 -7.12886101e-04 9.99899720e-01 6.86509464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981652532 meters 0.2939494572453376 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 9.99901453e-01 1.63311977e-03 1.39433234e-02 -6.77183823e-01] [-1.64170863e-03 9.99998470e-01 6.04560056e-04 -1.07672357e+00] [-1.39423148e-02 -6.27391353e-04 9.99902604e-01 6.95065407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011652532 meters 0.2939494572453376 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 9.99901453e-01 1.63311977e-03 1.39433234e-02 -6.77183823e-01] [-1.64170863e-03 9.99998470e-01 6.04560056e-04 -1.07672357e+00] [-1.39423148e-02 -6.27391353e-04 9.99902604e-01 6.95065407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041652532 meters 0.3040085424190522 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 9.99906266e-01 1.13786475e-03 1.36442347e-02 -6.76409458e-01] [-1.13681593e-03 9.99999350e-01 -8.46244869e-05 -1.07462829e+00] [-1.36443221e-02 6.91055713e-05 9.99906910e-01 6.95618314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071652532 meters 0.28912869358231036 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 9.99910052e-01 8.03373503e-04 1.33881686e-02 -6.75923075e-01] [-7.95186497e-04 9.99999494e-01 -6.16822547e-04 -1.07286926e+00] [-1.33886573e-02 6.06120974e-04 9.99910184e-01 6.98336760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101652532 meters 0.2846044399128065 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 9.99910398e-01 9.64903500e-04 1.33515895e-02 -6.75905140e-01] [-9.60819721e-04 9.99999490e-01 -3.12275831e-04 -1.07383868e+00] [-1.33518840e-02 2.99419380e-04 9.99910815e-01 6.98636618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131652532 meters 0.28439029407897026 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 9.99912977e-01 1.09358720e-03 1.31469360e-02 -6.75939763e-01] [-1.09433809e-03 9.99999400e-01 4.99216007e-05 -1.07479924e+00] [-1.31468735e-02 -6.43044492e-05 9.99913574e-01 7.06917235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161652532 meters 0.2827723100822561 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.07, Z:0.07 [[ 9.99918056e-01 8.62498117e-04 1.27725080e-02 -6.75616631e-01] [-8.60247576e-04 9.99999613e-01 -1.81694893e-04 -1.07397167e+00] [-1.27726598e-02 1.70692485e-04 9.99918412e-01 7.16861071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191652532 meters 0.2805819375280849 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.99990805 0.00555423 0.01237064 -0.67526151] [-0.00561738 0.99997134 0.00507604 -1.0767772 ] [-0.0123421 -0.00514506 0.9999106 0.07264921] [ 0. 0. 0. 1. ]] SLAMing on 41.221652532 meters 0.2826544070097631 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.99990096 0.00594508 0.01275647 -0.67653107] [-0.0060181 0.99996569 0.00569302 -1.07870106] [-0.01272219 -0.00576923 0.99990243 0.07311628] [ 0. 0. 0. 1. ]] SLAMing on 41.251652532 meters 0.2802458599144207 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.99989691 0.00584995 0.01311266 -0.67759 ] [-0.00592179 0.99996763 0.00544632 -1.07788904] [-0.01308038 -0.00552341 0.99989919 0.07342944] [ 0. 0. 0. 1. ]] SLAMing on 41.281652532 meters 0.28325139614547423 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.9998707 0.00684211 0.01455246 -0.68116527] [-0.00692771 0.99995895 0.00584013 -1.07828513] [-0.0145119 -0.00594019 0.99987705 0.07333408] [ 0. 0. 0. 1. ]] SLAMing on 41.311652532 meters 0.28654195782441794 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.08, Z:0.07 [[ 0.99985318 0.00715629 0.01556956 -0.68333518] [-0.00724738 0.9999569 0.00580215 -1.07829412] [-0.01552737 -0.00591414 0.99986195 0.072713 ] [ 0. 0. 0. 1. ]] SLAMing on 41.341652532 meters 0.28928952684782633 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.08, Z:0.07 [[ 0.99983365 0.00774397 0.01651348 -0.68520477] [-0.00784725 0.99995 0.0061986 -1.07950708] [-0.01646465 -0.00632716 0.99984443 0.07186477] [ 0. 0. 0. 1. ]] SLAMing on 41.371652532 meters 0.29429970622294527 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.08, Z:0.07 [[ 0.99982486 0.00787493 0.01697721 -0.68558348] [-0.00797892 0.99994977 0.00606623 -1.07927699] [-0.01692858 -0.00620063 0.99983747 0.07066285] [ 0. 0. 0. 1. ]] SLAMing on 41.401652532 meters 0.3146520990543356 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.08, Z:0.07 [[ 0.99981038 0.00839953 0.01756823 -0.68679008] [-0.00851984 0.99994069 0.00678426 -1.08165109] [-0.0175102 -0.00693265 0.99982265 0.070198 ] [ 0. 0. 0. 1. ]] SLAMing on 41.431652532 meters 0.2974749197520678 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.08, Z:0.07 [[ 0.99979501 0.00897473 0.01814933 -0.68823759] [-0.00911526 0.999929 0.00767511 -1.08446532] [-0.01807916 -0.00783897 0.99980583 0.07020795] [ 0. 0. 0. 1. ]] SLAMing on 41.461652532 meters 0.2971544524682104 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.08, Z:0.07 [[ 0.99980245 0.00887307 0.01778591 -0.68744558] [-0.00901082 0.99992991 0.00768005 -1.08445425] [-0.01771652 -0.0078388 0.99981232 0.07047804] [ 0. 0. 0. 1. ]] SLAMing on 41.491652532 meters 0.29745262833428254 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99982239 0.00480375 0.01822419 -0.68861493] [-0.00486933 0.99998182 0.00355611 -1.0851975 ] [-0.01820678 -0.00364421 0.9998276 0.0704717 ] [ 0. 0. 0. 1. ]] SLAMing on 41.521652532 meters 0.29253705399467655 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99997574 -0.00148338 0.00680532 -0.68919211] [ 0.00144617 0.999984 0.00546863 -1.09191125] [-0.00681332 -0.00545866 0.99996189 0.06734939] [ 0. 0. 0. 1. ]] SLAMing on 41.551652532 meters 0.2922057259304432 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99997449 -0.00146366 0.00699154 -0.68959272] [ 0.00142557 0.99998413 0.00544983 -1.09189517] [-0.00699941 -0.00543973 0.99996071 0.06726559] [ 0. 0. 0. 1. ]] SLAMing on 41.581652532 meters 0.29857367265360607 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99997537 -0.00168184 0.00681423 -0.68922315] [ 0.001647 0.99998556 0.00511527 -1.0908086 ] [-0.00682273 -0.00510392 0.9999637 0.06746011] [ 0. 0. 0. 1. ]] SLAMing on 41.611652532 meters 0.2945297958931422 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99997609 -0.00157229 0.00673395 -0.68918997] [ 0.00153637 0.99998458 0.00533614 -1.09149974] [-0.00674223 -0.00532567 0.99996309 0.06771684] [ 0. 0. 0. 1. ]] SLAMing on 41.641652532 meters 0.29050927103876384 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99997326 -0.00122575 0.00720972 -0.69044977] [ 0.00118382 0.99998238 0.00581675 -1.09301104] [-0.00721673 -0.00580806 0.99995709 0.06785402] [ 0. 0. 0. 1. ]] SLAMing on 41.671652532 meters 0.2912000384353223 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 9.99969615e-01 -7.14814490e-04 7.76260421e-03 -6.91770860e-01] [ 6.63638884e-04 9.99978045e-01 6.59315819e-03 -1.09544842e+00] [-7.76714666e-03 -6.58780630e-03 9.99948135e-01 6.77900321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701652532 meters 0.2884544929143847 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.9999587 -0.00508733 0.00753045 -0.6914049 ] [ 0.00507021 0.99998452 0.00229086 -1.09552294] [-0.00754199 -0.00225259 0.99996902 0.06825718] [ 0. 0. 0. 1. ]] SLAMing on 41.731652532 meters 0.2818599530928358 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99992969 -0.0096292 0.0069209 -0.68966228] [ 0.00964487 0.99995099 -0.00223406 -1.09504826] [-0.00689905 0.00230066 0.99997355 0.0681482 ] [ 0. 0. 0. 1. ]] SLAMing on 41.761652532 meters 0.2804663046116246 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99993205 -0.00930946 0.00701581 -0.68997606] [ 0.00932148 0.99995514 -0.0016819 -1.0968096 ] [-0.00699983 0.00174718 0.99997397 0.06815228] [ 0. 0. 0. 1. ]] SLAMing on 41.791652532 meters 0.2845420659318027 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99996697 -0.00540237 0.00607314 -0.68791651] [ 0.00538746 0.99998244 0.00246786 -1.09631491] [-0.00608636 -0.00243506 0.99997851 0.06852328] [ 0. 0. 0. 1. ]] SLAMing on 41.821652532 meters 0.28864680824035144 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99996674 -0.00556805 0.00595976 -0.6878447 ] [ 0.00555494 0.99998212 0.00221482 -1.09540873] [-0.00597198 -0.00218164 0.99997979 0.06888882] [ 0. 0. 0. 1. ]] SLAMing on 41.851652532 meters 0.29688047332931816 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99996512 -0.00573894 0.00606769 -0.68774919] [ 0.00572764 0.99998183 0.00187788 -1.09442845] [-0.00607836 -0.00184307 0.99997983 0.06837924] [ 0. 0. 0. 1. ]] SLAMing on 41.881652532 meters 0.28341913966391385 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99996497 -0.00585805 0.00597837 -0.68758484] [ 0.0058479 0.99998143 0.00171353 -1.0938676 ] [-0.0059883 -0.00167851 0.99998066 0.06848141] [ 0. 0. 0. 1. ]] SLAMing on 41.911652532 meters 0.2877357951730247 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99996458 -0.0057006 0.00619196 -0.68804773] [ 0.00568874 0.99998195 0.00193254 -1.09464858] [-0.00620286 -0.00189725 0.99997896 0.06835101] [ 0. 0. 0. 1. ]] SLAMing on 41.941652532 meters 0.28245505859826975 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99996754 -0.00555187 0.00583988 -0.68752794] [ 0.00553834 0.99998195 0.00233081 -1.0957883 ] [-0.00585271 -0.00229839 0.99998023 0.06888312] [ 0. 0. 0. 1. ]] SLAMing on 41.971652532 meters 0.2796695448571879 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99997119 -0.00566891 0.00504732 -0.68643042] [ 0.00565585 0.99998063 0.00259808 -1.09658933] [-0.00506195 -0.00256946 0.99998389 0.07025058] [ 0. 0. 0. 1. ]] SLAMing on 42.001652532 meters 0.2826665001506143 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99997024 -0.00540612 0.0055032 -0.68730147] [ 0.00539019 0.99998125 0.00290639 -1.09768835] [-0.00551881 -0.00287664 0.99998063 0.06979633] [ 0. 0. 0. 1. ]] SLAMing on 42.031652532 meters 0.2846823918126213 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99997026 -0.00539364 0.00551302 -0.68721133] [ 0.00537764 0.9999813 0.00291343 -1.09774576] [-0.00552863 -0.00288369 0.99998056 0.06960867] [ 0. 0. 0. 1. ]] SLAMing on 42.061652532 meters 0.28601901384074074 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.10, Z:0.07 [[ 0.99996816 -0.00564572 0.00563885 -0.68735018] [ 0.00563211 0.9999812 0.00242619 -1.0961934 ] [-0.00565244 -0.00239436 0.99998116 0.06940884] [ 0. 0. 0. 1. ]] SLAMing on 42.091652532 meters 0.2820591100752459 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99996775 -0.00636186 0.00490184 -0.68581743] [ 0.00635294 0.99997814 0.00183288 -1.09478741] [-0.00491339 -0.00180168 0.99998631 0.06993962] [ 0. 0. 0. 1. ]] SLAMing on 42.121652532 meters 0.2734260458820226 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.09, Z:0.07 [[ 0.99993156 -0.0107355 0.00465012 -0.68543607] [ 0.01074708 0.99993919 -0.00247364 -1.09478845] [-0.00462328 0.00252344 0.99998613 0.0705283 ] [ 0. 0. 0. 1. ]] SLAMing on 42.151652532 meters 0.2764156583019811 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.07 [[ 0.9999355 -0.01081221 0.00347858 -0.68285447] [ 0.01081935 0.99993939 -0.0020411 -1.09615914] [-0.0034563 0.00207861 0.99999187 0.07101797] [ 0. 0. 0. 1. ]] SLAMing on 42.181652532 meters 0.26780544359146596 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.07 [[ 0.99993127 -0.01157785 0.001847 -0.67900919] [ 0.01158105 0.99993144 -0.00172879 -1.09771819] [-0.00182686 0.00175006 0.9999968 0.07160902] [ 0. 0. 0. 1. ]] SLAMing on 42.211652532 meters 0.26461087513554754 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.07 [[ 9.99921558e-01 -1.25145218e-02 5.14118629e-04 -6.76485149e-01] [ 1.25156706e-02 9.99919041e-01 -2.29564165e-03 -1.09690431e+00] [-4.85348149e-04 2.30189612e-03 9.99997233e-01 7.27571532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241652531999996 meters 0.26282959200929534 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.07 [[ 9.99922796e-01 -1.24233055e-02 2.50363926e-04 -6.76102582e-01] [ 1.24237808e-02 9.99920830e-01 -1.99593076e-03 -1.09777630e+00] [-2.25548047e-04 1.99888714e-03 9.99997977e-01 7.31575065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271652532 meters 0.26337693301699966 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.07 [[ 9.99964810e-01 -8.35705701e-03 -7.34358702e-04 -6.74012586e-01] [ 8.35881378e-03 9.99962130e-01 2.42266085e-03 -1.09822110e+00] [ 7.14084577e-04 -2.42871396e-03 9.99996796e-01 7.35933667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301652532 meters 0.26068614580534866 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.07 [[ 0.99996175 -0.00864699 -0.00131721 -0.67286424] [ 0.00864986 0.9999602 0.00218691 -1.09746065] [ 0.00129824 -0.00219822 0.99999674 0.07413127] [ 0. 0. 0. 1. ]] SLAMing on 42.331652532 meters 0.2599265082608146 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.07 [[ 0.9999613 -0.00866293 -0.00153078 -0.67255333] [ 0.00866637 0.99995989 0.00225956 -1.09761849] [ 0.00151114 -0.00227274 0.99999628 0.07447469] [ 0. 0. 0. 1. ]] SLAMing on 42.361652532 meters 0.2609670176289555 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.07 [[ 0.99996027 -0.00869152 -0.00197869 -0.67161179] [ 0.00869624 0.99995933 0.00239148 -1.09798948] [ 0.00195782 -0.00240859 0.99999518 0.0748118 ] [ 0. 0. 0. 1. ]] SLAMing on 42.391652532 meters 0.25825606357124015 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.9999609 -0.00860173 -0.00205028 -0.67169244] [ 0.00860704 0.99995959 0.00259571 -1.09857005] [ 0.00202787 -0.00261326 0.99999453 0.07521062] [ 0. 0. 0. 1. ]] SLAMing on 42.421652532 meters 0.2568953228410307 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99996093 -0.00858989 -0.00208812 -0.67188151] [ 0.00859547 0.99995947 0.00267992 -1.09874329] [ 0.00206501 -0.00269776 0.99999423 0.07566102] [ 0. 0. 0. 1. ]] SLAMing on 42.451652532 meters 0.2554941467999577 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99996195 -0.00857249 -0.00161619 -0.67272666] [ 0.00857648 0.99996015 0.00247822 -1.09812283] [ 0.00159488 -0.00249199 0.99999562 0.07513533] [ 0. 0. 0. 1. ]] SLAMing on 42.481652532 meters 0.26009080787963584 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.9999621 -0.00852696 -0.00175592 -0.67258397] [ 0.00853154 0.99996018 0.00261939 -1.09850205] [ 0.00173351 -0.00263427 0.99999503 0.07547768] [ 0. 0. 0. 1. ]] SLAMing on 42.511652532 meters 0.25253385534127587 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.999961 -0.00861203 -0.00195642 -0.67251727] [ 0.00861698 0.99995966 0.00253379 -1.09806453] [ 0.00193452 -0.00255055 0.99999488 0.07617235] [ 0. 0. 0. 1. ]] SLAMing on 42.541652532 meters 0.25386457232914317 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99996402 -0.00825097 -0.00197174 -0.67275391] [ 0.00825728 0.99996074 0.00321481 -1.10016091] [ 0.00194514 -0.00323097 0.99999289 0.07654654] [ 0. 0. 0. 1. ]] SLAMing on 42.571652532 meters 0.2531423810005254 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99996356 -0.00821378 -0.0023256 -0.67176919] [ 0.00822163 0.99996048 0.00338351 -1.1007523 ] [ 0.00229771 -0.00340251 0.99999157 0.07641946] [ 0. 0. 0. 1. ]] SLAMing on 42.601652532 meters 0.2496111148874056 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99995164 -0.00927786 -0.00326322 -0.66979605] [ 0.00928562 0.99995408 0.00237117 -1.0988372 ] [ 0.00324107 -0.00240136 0.99999186 0.07674182] [ 0. 0. 0. 1. ]] SLAMing on 42.631652532 meters 0.24776204070913974 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99994658 -0.00956216 -0.00392426 -0.66840516] [ 0.00957055 0.99995194 0.00212521 -1.09811508] [ 0.00390375 -0.00216266 0.99999004 0.07718548] [ 0. 0. 0. 1. ]] SLAMing on 42.661652532 meters 0.2446764262708621 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99993954 -0.00991087 -0.0047633 -0.66683036] [ 0.00992095 0.99994859 0.0020971 -1.09819368] [ 0.00474227 -0.00214423 0.99998646 0.07806089] [ 0. 0. 0. 1. ]] SLAMing on 42.691652532 meters 0.24616787794446163 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 0.99988553 -0.01415889 -0.00533466 -0.66576485] [ 0.01414998 0.99989843 -0.00170356 -1.09966946] [ 0.00535824 0.00162788 0.99998432 0.07881927] [ 0. 0. 0. 1. ]] SLAMing on 42.721652532 meters 0.2396542105475058 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99987335 -0.01466322 -0.00618592 -0.66412693] [ 0.01465065 0.99989052 -0.00207339 -1.09891095] [ 0.00621565 0.0019825 0.99997872 0.07952029] [ 0. 0. 0. 1. ]] SLAMing on 42.751652532 meters 0.2371954827087376 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99990355 -0.01168439 -0.00750818 -0.66117981] [ 0.01169421 0.99993082 0.00126592 -1.0979561 ] [ 0.00749287 -0.0013536 0.99997101 0.07971839] [ 0. 0. 0. 1. ]] SLAMing on 42.781652532 meters 0.2409387576272677 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99994662 -0.00692805 -0.00766496 -0.66097162] [ 0.00697719 0.99995516 0.00640228 -1.10057545] [ 0.00762026 -0.00645542 0.99995013 0.07983057] [ 0. 0. 0. 1. ]] SLAMing on 42.811652532 meters 0.24069071158191563 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99994725 -0.0068033 -0.0076945 -0.66101638] [ 0.00685471 0.99995423 0.00667513 -1.10145539] [ 0.00764873 -0.00672752 0.99994812 0.08003841] [ 0. 0. 0. 1. ]] SLAMing on 42.841652532 meters 0.23628962927021918 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99994132 -0.00715755 -0.00813232 -0.65976759] [ 0.00720799 0.99995486 0.00619026 -1.10009809] [ 0.00808765 -0.00624851 0.99994777 0.07992555] [ 0. 0. 0. 1. ]] SLAMing on 42.871652532 meters 0.28225678098499885 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.9999384 -0.00726372 -0.00839311 -0.65884596] [ 0.00731488 0.99995475 0.00608146 -1.09988286] [ 0.00834856 -0.00614248 0.99994628 0.0796095 ] [ 0. 0. 0. 1. ]] SLAMing on 42.901652532 meters 0.23690852944834678 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99993746 -0.0072785 -0.00849098 -0.65830994] [ 0.00733026 0.99995464 0.00608081 -1.10000081] [ 0.00844634 -0.00614267 0.99994546 0.07920228] [ 0. 0. 0. 1. ]] SLAMing on 42.931652532 meters 0.23648415678741502 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99993673 -0.00722766 -0.00861949 -0.65799003] [ 0.00728147 0.9999541 0.00622764 -1.10051018] [ 0.00857408 -0.00629001 0.99994346 0.07923898] [ 0. 0. 0. 1. ]] SLAMing on 42.961652532 meters 0.23648415678741502 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99993673 -0.00722766 -0.00861949 -0.65799003] [ 0.00728147 0.9999541 0.00622764 -1.10051018] [ 0.00857408 -0.00629001 0.99994346 0.07923898] [ 0. 0. 0. 1. ]] SLAMing on 42.991652531999996 meters 0.2347358767719431 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99993856 -0.00528597 -0.00974371 -0.64930064] [ 0.00524745 0.99997834 -0.00397405 -1.09251194] [ 0.00976451 0.00392268 0.99994463 0.08693341] [ 0. 0. 0. 1. ]] SLAMing on 43.021652532 meters 0.26828144411953914 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99993908 -0.00518701 -0.00974366 -0.64936527] [ 0.00515032 0.99997957 -0.00378675 -1.09307874] [ 0.00976311 0.00373633 0.99994536 0.0869688 ] [ 0. 0. 0. 1. ]] SLAMing on 43.051652532 meters 0.23483663607561756 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99994246 -0.00512585 -0.00942378 -0.65026655] [ 0.00509053 0.99997995 -0.00376759 -1.09310538] [ 0.00944291 0.0037194 0.9999485 0.08705001] [ 0. 0. 0. 1. ]] SLAMing on 43.081652532 meters 0.2446614981560155 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99994513 -0.00511886 -0.00913934 -0.65116653] [ 0.00508416 0.99997979 -0.00381611 -1.0928877 ] [ 0.00915869 0.00376944 0.99995095 0.08729062] [ 0. 0. 0. 1. ]] SLAMing on 43.111652532 meters 0.23973708777398584 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99994854 -0.00491309 -0.00887586 -0.65181819] [ 0.00488186 0.99998183 -0.00353618 -1.09378093] [ 0.00889307 0.00349267 0.99995436 0.08715399] [ 0. 0. 0. 1. ]] SLAMing on 43.141652532 meters 0.24577398656271632 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99994673 -0.00491711 -0.00907527 -0.65129999] [ 0.00488571 0.99998202 -0.00347834 -1.09396428] [ 0.00909221 0.00343381 0.99995277 0.08711351] [ 0. 0. 0. 1. ]] SLAMing on 43.171652532 meters 0.264382656252621 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 0.99994553 -0.00485024 -0.00924227 -0.65092417] [ 0.00482003 0.99998298 -0.00328823 -1.09457927] [ 0.00925806 0.0032435 0.99995188 0.0871774 ] [ 0. 0. 0. 1. ]] SLAMing on 43.201652532 meters 0.25247288207518415 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.10, Z:0.09 [[ 0.99994561 -0.00453843 -0.00939042 -0.65084977] [ 0.00451344 0.99998622 -0.00268053 -1.09644353] [ 0.00940246 0.002638 0.99995232 0.08752825] [ 0. 0. 0. 1. ]] SLAMing on 43.231652532 meters 0.2533984768143935 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.10, Z:0.09 [[ 9.99954281e-01 -4.86815268e-04 -9.54982431e-03 -6.49938451e-01] [ 4.97834394e-04 9.99999213e-01 1.15151314e-03 -1.09507354e+00] [ 9.54925623e-03 -1.15621472e-03 9.99953736e-01 8.68630475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261652532 meters 0.2530383473989617 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.09, Z:0.09 [[ 9.99965276e-01 -1.80260763e-04 -8.33158093e-03 -6.52289782e-01] [ 1.89092913e-04 9.99999421e-01 1.05930528e-03 -1.09492483e+00] [ 8.33138515e-03 -1.06084394e-03 9.99964731e-01 8.57218457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291652532 meters 0.25193299262942903 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 9.99981302e-01 1.25351396e-03 -5.98540619e-03 -6.57255693e-01] [-1.24856375e-03 9.99998876e-01 8.30711221e-04 -1.09304830e+00] [ 5.98644077e-03 -8.23222527e-04 9.99981742e-01 8.40702723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321652532 meters 0.2540238177652366 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99996821 0.00563064 -0.0056458 -0.65765516] [-0.00560199 0.99997142 0.00507637 -1.0929503 ] [ 0.00567422 -0.00504458 0.99997118 0.08345603] [ 0. 0. 0. 1. ]] SLAMing on 43.351652532 meters 0.25259514677947015 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99996975 0.00577198 -0.00521375 -0.65888822] [-0.00574476 0.99996986 0.00522228 -1.09342978] [ 0.00524374 -0.00519217 0.99997277 0.08360127] [ 0. 0. 0. 1. ]] SLAMing on 43.381652532 meters 0.2515906041105863 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99997145 0.00584661 -0.00478782 -0.65998461] [-0.00582154 0.99996936 0.00523344 -1.0935097 ] [ 0.00481827 -0.00520541 0.99997484 0.08363091] [ 0. 0. 0. 1. ]] SLAMing on 43.411652532 meters 0.2520860804844069 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99997135 0.0059718 -0.00465205 -0.66026182] [-0.00594651 0.99996757 0.00543172 -1.09422578] [ 0.00468434 -0.0054039 0.99997443 0.08352294] [ 0. 0. 0. 1. ]] SLAMing on 43.441652532 meters 0.24955798127138148 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99999048 0.00185741 -0.00394836 -0.66203859] [-0.00185224 0.99999742 0.00131253 -1.09489981] [ 0.00395078 -0.0013052 0.99999134 0.08342636] [ 0. 0. 0. 1. ]] SLAMing on 43.471652532 meters 0.24957579325397045 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99998986 0.00172817 -0.00415893 -0.66145827] [-0.00172338 0.99999785 0.00115384 -1.09439921] [ 0.00416092 -0.00114666 0.99999069 0.08343765] [ 0. 0. 0. 1. ]] SLAMing on 43.501652532 meters 0.24738178176683961 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.09, Z:0.08 [[ 0.99998828 0.00171163 -0.00452915 -0.66087196] [-0.00170564 0.99999767 0.00132677 -1.09485399] [ 0.00453141 -0.00131903 0.99998886 0.08403264] [ 0. 0. 0. 1. ]] SLAMing on 43.531652532 meters 0.26002484020151234 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99998816 0.00180777 -0.00451841 -0.66119053] [-0.00180094 0.99999723 0.00151564 -1.0953956 ] [ 0.00452113 -0.00150749 0.99998864 0.08448125] [ 0. 0. 0. 1. ]] SLAMing on 43.561652532 meters 0.26006254403190493 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.10, Z:0.08 [[ 0.99998969 0.00189616 -0.00412613 -0.6623531 ] [-0.00188968 0.99999697 0.0015746 -1.0955798 ] [ 0.0041291 -0.00156679 0.99999025 0.08472931] [ 0. 0. 0. 1. ]] SLAMing on 43.591652532 meters 0.2507763588069414 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.09, Z:0.08 [[ 0.99999391 0.00237858 -0.00255473 -0.6656821 ] [-0.00237576 0.99999657 0.00110691 -1.09377712] [ 0.00255736 -0.00110083 0.99999612 0.08368875] [ 0. 0. 0. 1. ]] SLAMing on 43.621652532 meters 0.2510863055566831 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.09, Z:0.08 [[ 9.99995395e-01 2.28306347e-03 -1.99947811e-03 -6.66723667e-01] [-2.28159215e-03 9.99997125e-01 7.37826212e-04 -1.09277060e+00] [ 2.00115687e-03 -7.33260820e-04 9.99997729e-01 8.31699606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651652532 meters 0.2553079692682239 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.09, Z:0.08 [[ 0.99999576 0.00266051 -0.00118315 -0.66879209] [-0.00265919 0.99999584 0.00111398 -1.09396273] [ 0.00118611 -0.00111083 0.99999868 0.0831598 ] [ 0. 0. 0. 1. ]] SLAMing on 43.681652532 meters 0.2568126993472775 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.09, Z:0.08 [[ 9.99973712e-01 7.21481392e-03 -7.21715377e-04 -6.70227588e-01] [-7.21056025e-03 9.99957573e-01 5.73232907e-03 -1.09485814e+00] [ 7.63042444e-04 -5.72697441e-03 9.99983310e-01 8.35876846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711652532 meters 0.26052302998581583 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.10, Z:0.08 [[ 9.99966292e-01 8.18917766e-03 5.93265962e-04 -6.73699104e-01] [-8.19299198e-03 9.99943717e-01 6.74076920e-03 -1.09742676e+00] [-5.38031215e-04 -6.74540261e-03 9.99977105e-01 8.39179155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741652531999996 meters 0.2628468067653251 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.08 [[ 0.99995961 0.00879429 0.00185379 -0.6769499 ] [-0.00880732 0.99993569 0.00714522 -1.09846228] [-0.00179083 -0.00716125 0.99997275 0.08405514] [ 0. 0. 0. 1. ]] SLAMing on 43.771652532 meters 0.2729042462017106 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.10, Z:0.08 [[ 0.99993423 0.01085503 0.00370133 -0.68172147] [-0.01088656 0.99990369 0.00860726 -1.10086792] [-0.00360754 -0.00864699 0.99995611 0.08425656] [ 0. 0. 0. 1. ]] SLAMing on 43.801652532 meters 0.27725901504448563 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.11, Z:0.08 [[ 0.99976493 0.01997864 0.00842273 -0.69212627] [-0.02009851 0.99969437 0.01439536 -1.10556961] [-0.00813256 -0.01456126 0.99986091 0.0814835 ] [ 0. 0. 0. 1. ]] SLAMing on 43.831652532 meters 0.2836017449118759 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.11, Z:0.08 [[ 0.99972864 0.02101368 0.01005375 -0.69586548] [-0.02116297 0.99966381 0.01497998 -1.10702943] [-0.00973559 -0.01518868 0.99983725 0.08096353] [ 0. 0. 0. 1. ]] SLAMing on 43.861652532 meters 0.28791895371815157 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.11, Z:0.08 [[ 0.99970018 0.02170152 0.01134028 -0.69841709] [-0.02187444 0.99964282 0.01535364 -1.10808931] [-0.01100303 -0.0155971 0.99981782 0.07994315] [ 0. 0. 0. 1. ]] SLAMing on 43.891652532 meters 0.29011369577266755 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.11, Z:0.08 [[ 0.99969489 0.02157342 0.0120296 -0.6995733 ] [-0.02175127 0.99965305 0.01485469 -1.10671601] [-0.01170496 -0.01511182 0.9998173 0.07908668] [ 0. 0. 0. 1. ]] SLAMing on 43.921652532 meters 0.29116181242207034 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.10, Z:0.08 [[ 0.99968432 0.02140731 0.01315241 -0.70111692] [-0.02158787 0.99967249 0.01374309 -1.10390668] [-0.0128539 -0.01402268 0.99981905 0.07714228] [ 0. 0. 0. 1. ]] SLAMing on 43.951652532 meters 0.29245472876034 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.10, Z:0.08 [[ 0.99966728 0.02165847 0.01400854 -0.70274234] [-0.0218528 0.99966497 0.0138711 -1.10454793] [-0.01370342 -0.01417261 0.99980566 0.07629288] [ 0. 0. 0. 1. ]] SLAMing on 43.981652532 meters 0.2963059166056103 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.11, Z:0.08 [[ 0.99970501 0.01872129 0.01547292 -0.70663279] [-0.01888564 0.99976604 0.01054485 -1.10637263] [-0.01527189 -0.01083396 0.99982468 0.07641609] [ 0. 0. 0. 1. ]] SLAMing on 44.011652532 meters 0.29473660634162324 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.11, Z:0.08 [[ 0.99972591 0.01628472 0.01681996 -0.71039898] [-0.01641753 0.99983489 0.00778859 -1.1091242 ] [-0.01669035 -0.0080626 0.9998282 0.07688548] [ 0. 0. 0. 1. ]] SLAMing on 44.041652532 meters 0.29920867327439027 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.11, Z:0.08 [[ 0.99964227 0.02074791 0.01687798 -0.71037132] [-0.0209608 0.9997017 0.012536 -1.11051545] [-0.01661285 -0.01288529 0.99977897 0.07681765] [ 0. 0. 0. 1. ]] SLAMing on 44.071652532 meters 0.3005755368614218 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.11, Z:0.08 [[ 0.99968442 0.01745113 0.01806994 -0.71383546] [-0.01761867 0.99980287 0.00915434 -1.11283136] [-0.01790663 -0.00946982 0.99979482 0.07734715] [ 0. 0. 0. 1. ]] SLAMing on 44.101652532 meters 0.2986925455796379 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.11, Z:0.08 [[ 0.99967279 0.01764656 0.01851786 -0.71491848] [-0.01782238 0.99979723 0.009373 -1.11364151] [-0.0183487 -0.00969996 0.99978459 0.07723297] [ 0. 0. 0. 1. ]] SLAMing on 44.131652532 meters 0.3003266903358934 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.11, Z:0.08 [[ 0.99965732 0.01793928 0.0190636 -0.71590732] [-0.0181261 0.99978892 0.00967269 -1.11480422] [-0.01888605 -0.01001493 0.99977148 0.07657626] [ 0. 0. 0. 1. ]] SLAMing on 44.161652532 meters 0.3028513498762614 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.99965041 0.01815436 0.01922181 -0.71569688] [-0.01834812 0.99978213 0.00995216 -1.11567961] [-0.01903695 -0.01030137 0.99976571 0.07562776] [ 0. 0. 0. 1. ]] SLAMing on 44.191652532 meters 0.4016657001645984 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.99971656 0.01392292 0.01931205 -0.71643144] [-0.01403464 0.99988548 0.00566156 -1.11578867] [-0.01923101 -0.00593099 0.99979748 0.0761682 ] [ 0. 0. 0. 1. ]] SLAMing on 44.221652532 meters 0.2993155273927382 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.99972337 0.0138782 0.018989 -0.71547923] [-0.01398838 0.99988601 0.00568183 -1.11587724] [-0.01890798 -0.00594589 0.99980355 0.07597994] [ 0. 0. 0. 1. ]] SLAMing on 44.251652532 meters 0.296342410388141 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.12, Z:0.08 [[ 0.99972682 0.01371542 0.01892551 -0.71497345] [-0.01382 0.99988989 0.00540575 -1.11507906] [-0.01884928 -0.00566582 0.99980628 0.07550999] [ 0. 0. 0. 1. ]] SLAMing on 44.281652532 meters 0.2974734169044928 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.11, Z:0.08 [[ 0.99972184 0.01367572 0.01921526 -0.71537778] [-0.01377873 0.99989135 0.00523859 -1.11468142] [-0.01914153 -0.00550189 0.99980165 0.07502911] [ 0. 0. 0. 1. ]] SLAMing on 44.311652532 meters 0.3870317750437293 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.9997049 0.01410038 0.01978111 -0.71685288] [-0.01421752 0.99988214 0.00579388 -1.11642463] [-0.01969709 -0.00607341 0.99978755 0.07509829] [ 0. 0. 0. 1. ]] SLAMing on 44.341652532 meters 0.3845430382997249 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.999692 0.01435879 0.02024156 -0.71823904] [-0.01448539 0.99987634 0.00612197 -1.11750134] [-0.02015115 -0.00641329 0.99977638 0.07544779] [ 0. 0. 0. 1. ]] SLAMing on 44.371652532 meters 0.35938958895328965 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.12, Z:0.08 [[ 0.99965724 0.01523817 0.02128829 -0.72117337] [-0.01539422 0.99985568 0.00718578 -1.12046209] [-0.02117572 -0.00751104 0.99974755 0.07599032] [ 0. 0. 0. 1. ]] SLAMing on 44.401652532 meters 0.32487685326714444 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.12, Z:0.08 [[ 0.99953242 0.02020949 0.02294576 -0.72539895] [-0.02048918 0.99971781 0.01202036 -1.12177611] [-0.02269636 -0.01248488 0.99966445 0.07650237] [ 0. 0. 0. 1. ]] SLAMing on 44.431652532 meters 0.38147275010608533 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.12, Z:0.08 [[ 0.99949838 0.02051731 0.02412516 -0.72803242] [-0.02081066 0.99971175 0.01197222 -1.12182995] [-0.02387256 -0.01246828 0.99963726 0.0760191 ] [ 0. 0. 0. 1. ]] SLAMing on 44.461652532 meters 0.3649506263923613 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.12, Z:0.08 [[ 0.9994678 0.02078314 0.0251432 -0.72995647] [-0.02108567 0.99970771 0.01182772 -1.12162547] [-0.02489003 -0.01235158 0.99961389 0.07506474] [ 0. 0. 0. 1. ]] SLAMing on 44.491652531999996 meters 0.3745093368745154 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.12, Z:0.07 [[ 0.99941466 0.02188998 0.02629 -0.73209418] [-0.02222165 0.99967629 0.01239045 -1.1224482 ] [-0.02601026 -0.0129674 0.99957757 0.07400829] [ 0. 0. 0. 1. ]] SLAMing on 44.521652532 meters 0.3453548202375203 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.13, Z:0.08 [[ 0.99964182 0.02391385 0.01201507 -0.72966905] [-0.02408129 0.99961211 0.01398998 -1.13147976] [-0.01167586 -0.0142743 0.99982994 0.07571715] [ 0. 0. 0. 1. ]] SLAMing on 44.551652532 meters 0.37023853949733476 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.14, Z:0.08 [[ 0.99970941 0.02052405 0.01264378 -0.73196063] [-0.02066249 0.9997269 0.01091709 -1.13511478] [-0.01241626 -0.01117517 0.99986047 0.07653826] [ 0. 0. 0. 1. ]] SLAMing on 44.581652532 meters 0.3467423587211977 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.14, Z:0.08 [[ 0.99976609 0.0171131 0.01322555 -0.73381005] [-0.01721821 0.99982074 0.0078749 -1.13897158] [-0.01308842 -0.00810078 0.99988153 0.07687181] [ 0. 0. 0. 1. ]] SLAMing on 44.611652532 meters 0.3651578666456057 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.14, Z:0.08 [[ 0.99984829 0.01248214 0.0121484 -0.73190832] [-0.01252774 0.99991473 0.00368516 -1.13941844] [-0.01210137 -0.0038368 0.99991941 0.07787315] [ 0. 0. 0. 1. ]] SLAMing on 44.641652532 meters 0.3626692965513853 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.14, Z:0.08 [[ 9.99903640e-01 8.08755886e-03 1.12827897e-02 -7.30367102e-01] [-8.08401826e-03 9.99967259e-01 -3.59377825e-04 -1.14020432e+00] [-1.12853268e-02 2.68132917e-04 9.99936283e-01 7.86722776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671652532 meters 0.34133848888301227 Centerline is valid? [False, False] Translation: X:-0.73, Y:-1.14, Z:0.08 [[ 0.99994383 0.00363364 0.00995686 -0.72758468] [-0.00359112 0.99998437 -0.00428498 -1.14134778] [-0.00997228 0.00424898 0.99994125 0.07932188] [ 0. 0. 0. 1. ]] SLAMing on 44.701652532 meters 0.3305338815028212 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.14, Z:0.08 [[ 0.99996779 0.00200988 0.00777068 -0.72230612] [-0.00197153 0.99998586 -0.00493864 -1.14148468] [-0.0077805 0.00492316 0.99995761 0.07952999] [ 0. 0. 0. 1. ]] SLAMing on 44.731652532 meters 0.34550178846378504 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.14, Z:0.08 [[ 0.99998231 0.0013521 0.00579293 -0.71808895] [-0.00132626 0.99998916 -0.0044624 -1.14323581] [-0.0057989 0.00445464 0.99997326 0.08062358] [ 0. 0. 0. 1. ]] SLAMing on 44.761652532 meters 0.3318387886445537 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.09 [[ 9.99943246e-01 -1.06308607e-02 -6.99969304e-04 -7.03978523e-01] [ 1.06229693e-02 9.99888978e-01 -1.04491052e-02 -1.13788804e+00] [ 8.10974575e-04 1.04410765e-02 9.99945162e-01 8.66897635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791652532 meters 0.3241586409847826 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.09 [[ 0.99987243 -0.01579509 -0.00237389 -0.70027727] [ 0.01575872 0.9997688 -0.01462938 -1.13880282] [ 0.00260441 0.01459011 0.99989017 0.08784853] [ 0. 0. 0. 1. ]] SLAMing on 44.821652532 meters 0.3210971013686679 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99982973 -0.01786323 -0.00462683 -0.69466083] [ 0.01778938 0.99972099 -0.01553943 -1.13903807] [ 0.00490312 0.01545448 0.99986855 0.08814749] [ 0. 0. 0. 1. ]] SLAMing on 44.851652532 meters 0.3210971013686679 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99987997 -0.01449984 -0.00545819 -0.69196181] [ 0.01443079 0.99981794 -0.01248389 -1.13663707] [ 0.00563821 0.01240363 0.99990718 0.08737225] [ 0. 0. 0. 1. ]] SLAMing on 44.881652532 meters 0.31150925624409287 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99983805 -0.01633872 -0.00754419 -0.68688491] [ 0.01623745 0.99977976 -0.01329578 -1.13668036] [ 0.00775976 0.01317113 0.99988315 0.08774679] [ 0. 0. 0. 1. ]] SLAMing on 44.911652532 meters 0.2954354885271552 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 0.99973743 -0.02115659 -0.00880133 -0.68419172] [ 0.02100039 0.99962671 -0.01747639 -1.13726697] [ 0.00916778 0.01728697 0.99980854 0.08877568] [ 0. 0. 0. 1. ]] SLAMing on 44.941652532 meters 0.29684073891783636 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 0.99972793 -0.02133928 -0.00941853 -0.68284008] [ 0.02117136 0.99962125 -0.01758236 -1.13685926] [ 0.00979016 0.01737817 0.99980106 0.08910359] [ 0. 0. 0. 1. ]] SLAMing on 44.971652532 meters 0.300892007052031 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 0.99977729 -0.0180625 -0.01091409 -0.6796149 ] [ 0.01791111 0.99974416 -0.01381315 -1.13632159] [ 0.0111608 0.01361459 0.99984503 0.08956478] [ 0. 0. 0. 1. ]] SLAMing on 45.001652532 meters 0.28304203059516575 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 0.99973791 -0.01922601 -0.01242893 -0.67630796] [ 0.01904914 0.99971776 -0.01419586 -1.13633168] [ 0.01269835 0.01395538 0.99982198 0.09044352] [ 0. 0. 0. 1. ]] SLAMing on 45.031652532 meters 0.30931875533956055 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 0.99962064 -0.02384979 -0.01377544 -0.6735127 ] [ 0.02360171 0.9995612 -0.01789901 -1.13832664] [ 0.01419628 0.01756709 0.9997449 0.09172156] [ 0. 0. 0. 1. ]] SLAMing on 45.061652532 meters 0.30911764899596683 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 0.99968287 -0.02003022 -0.0152627 -0.67012132] [ 0.01982588 0.99971333 -0.0134239 -1.13942308] [ 0.01552721 0.01311705 0.9997934 0.09197015] [ 0. 0. 0. 1. ]] SLAMing on 45.091652532 meters 0.3162269855766206 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 0.99966865 -0.02009252 -0.01608969 -0.6684779 ] [ 0.01988084 0.99971509 -0.01320978 -1.14000561] [ 0.01635053 0.01288553 0.99978329 0.09262629] [ 0. 0. 0. 1. ]] SLAMing on 45.121652532 meters 0.29739582964199174 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 0.99972974 -0.01598523 -0.01687934 -0.66667591] [ 0.01583331 0.99983327 -0.00909587 -1.13956696] [ 0.01702192 0.00882615 0.99981616 0.09267371] [ 0. 0. 0. 1. ]] SLAMing on 45.151652532 meters 0.2936766950764799 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 0.99978102 -0.01196339 -0.01716942 -0.66604694] [ 0.01187399 0.99991546 -0.00529952 -1.13791175] [ 0.01723137 0.00509449 0.99983855 0.09265015] [ 0. 0. 0. 1. ]] SLAMing on 45.181652532 meters 0.2949514931171561 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99825418e-01 -7.49254654e-03 -1.71171302e-02 -6.66309897e-01] [ 7.47879635e-03 9.99971657e-01 -8.67172082e-04 -1.13821225e+00] [ 1.71231424e-02 7.39005158e-04 9.99853115e-01 9.26742812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211652532 meters 0.2929384931860218 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99829700e-01 -7.55250322e-03 -1.68383697e-02 -6.67102307e-01] [ 7.53615524e-03 9.99971068e-01 -1.03411913e-03 -1.13767323e+00] [ 1.68456928e-02 9.07046450e-04 9.99857690e-01 9.28085852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241652531999996 meters 0.28652134354211045 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99990600e-01 -4.06385588e-03 -1.51174203e-03 -6.74004498e-01] [ 4.06459176e-03 9.99991622e-01 4.84019036e-04 -1.13704928e+00] [ 1.50976238e-03 -4.90159100e-04 9.99998740e-01 9.22920103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271652532 meters 0.26664767033040554 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99991571e-01 -3.98796308e-03 -9.76997165e-04 -6.75289934e-01] [ 3.98837411e-03 9.99991959e-01 4.19123979e-04 -1.13686979e+00] [ 9.75317857e-04 -4.23017077e-04 9.99999435e-01 9.21542609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301652532 meters 0.2702193164883602 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99993131e-01 -3.70459372e-03 -1.15141315e-04 -6.77171928e-01] [ 3.70465756e-03 9.99992981e-01 5.59282344e-04 -1.13738673e+00] [ 1.13068593e-04 -5.59705062e-04 9.99999837e-01 9.16616275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331652532 meters 0.27007942818521224 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99992048e-01 -3.95619033e-03 5.02451580e-04 -6.78378411e-01] [ 3.95623054e-03 9.99992171e-01 -7.90596987e-05 -1.13546876e+00] [-5.02134871e-04 8.10468843e-05 9.99999871e-01 9.11861043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361652532 meters 0.2618946859501913 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99999459e-01 -5.13024475e-04 9.04928999e-04 -6.78214816e-01] [ 5.10568491e-04 9.99996192e-01 2.71215362e-03 -1.13132619e+00] [-9.06316954e-04 -2.71169013e-03 9.99995913e-01 8.95426496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391652532 meters 0.2637272842031664 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99999312e-01 -5.24078202e-04 1.04953060e-03 -6.78241608e-01] [ 5.21309234e-04 9.99996388e-01 2.63682973e-03 -1.13125001e+00] [-1.05090871e-03 -2.63628078e-03 9.99995973e-01 8.90712303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421652532 meters 0.2576110965269457 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99999297e-01 -6.99518226e-04 9.56929780e-04 -6.77718861e-01] [ 6.97253171e-04 9.99996960e-01 2.36529187e-03 -1.13047579e+00] [-9.58581435e-04 -2.36462299e-03 9.99996745e-01 8.86884236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451652532 meters 0.25653748669929444 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99999841e-01 -5.15805075e-04 2.28731970e-04 -6.76207010e-01] [ 5.15124351e-04 9.99995468e-01 2.96621550e-03 -1.13231030e+00] [-2.30260923e-04 -2.96609720e-03 9.99995575e-01 8.91805364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481652532 meters 0.2659409268751107 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99999983e-01 -1.59276117e-04 8.90146746e-05 -6.76328203e-01] [ 1.58951458e-04 9.99993379e-01 3.63543882e-03 -1.13426993e+00] [-8.95931238e-05 -3.63542461e-03 9.99993388e-01 8.98390053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511652532 meters 0.2609241132027252 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999958e-01 2.64299413e-04 1.18844487e-04 -6.77009813e-01] [-2.64814004e-04 9.99990499e-01 4.35098817e-03 -1.13631612e+00] [-1.17693394e-04 -4.35101946e-03 9.99990527e-01 9.06817819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541652532 meters 0.26106332769379254 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999884e-01 4.75642702e-04 -7.33625962e-05 -6.76839724e-01] [-4.75285909e-04 9.99988419e-01 4.78908700e-03 -1.13763299e+00] [ 7.56396409e-05 -4.78905158e-03 9.99988530e-01 9.11697486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571652532 meters 0.2623342792813054 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999800e-01 6.28306531e-04 -7.51246082e-05 -6.77050680e-01] [-6.27918359e-04 9.99987001e-01 5.05999698e-03 -1.13844971e+00] [ 7.83028608e-05 -5.05994879e-03 9.99987195e-01 9.14782004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601652532 meters 0.2588575912333596 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999821e-01 5.93733417e-04 -6.73361346e-05 -6.76666238e-01] [-5.93390104e-04 9.99987380e-01 4.98879482e-03 -1.13837153e+00] [ 7.02972990e-05 -4.98875398e-03 9.99987554e-01 9.09062929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631652532 meters 0.25213617227336216 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999851e-01 4.50730368e-04 -3.07818409e-04 -6.75782463e-01] [-4.49237798e-04 9.99988226e-01 4.83184280e-03 -1.13799621e+00] [ 3.09992643e-04 -4.83170380e-03 9.99988279e-01 9.05420489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661652532 meters 0.2531321597604013 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99999703e-01 2.47598585e-04 -7.29477216e-04 -6.74396791e-01] [-2.44215535e-04 9.99989233e-01 4.63408132e-03 -1.13755714e+00] [ 7.30616753e-04 -4.63390180e-03 9.99988997e-01 9.01481690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691652532 meters 0.2512480467988525 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99999515e-01 1.04613230e-04 -9.79334558e-04 -6.73664859e-01] [-1.00215815e-04 9.99989919e-01 4.48917944e-03 -1.13713845e+00] [ 9.79794313e-04 -4.48907912e-03 9.99989444e-01 9.00525437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721652532 meters 0.24886216468426423 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.14, Z:0.09 [[ 9.99999681e-01 1.20935232e-04 -7.89886633e-04 -6.74047655e-01] [-1.17404712e-04 9.99990011e-01 4.46817258e-03 -1.13713338e+00] [ 7.90419102e-04 -4.46807842e-03 9.99989706e-01 8.99173300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751652532 meters 0.2498644069504524 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999967e-01 2.55970042e-04 3.57510567e-05 -6.75864833e-01] [-2.56123604e-04 9.99990447e-01 4.36344535e-03 -1.13683794e+00] [-3.46338039e-05 -4.36345436e-03 9.99990479e-01 8.95084668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781652532 meters 0.24783992544711997 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999974e-01 1.32853758e-04 1.85580746e-04 -6.76474521e-01] [-1.33620021e-04 9.99991441e-01 4.13510898e-03 -1.13603535e+00] [-1.85029793e-04 -4.13513367e-03 9.99991433e-01 8.98869506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811652532 meters 0.2506598413569384 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99999713e-01 2.90782412e-04 6.98955175e-04 -6.77835306e-01] [-2.93765408e-04 9.99990834e-01 4.27148607e-03 -1.13646558e+00] [-6.97706695e-04 -4.27169017e-03 9.99990633e-01 8.99750360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841652532 meters 0.2509632018433378 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99998758e-01 6.16594734e-04 1.45043458e-03 -6.79745947e-01] [-6.23063873e-04 9.99989843e-01 4.46392292e-03 -1.13691941e+00] [-1.44766741e-03 -4.46482109e-03 9.99988985e-01 8.99674634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871652532 meters 0.266070837092956 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99998306e-01 4.72511700e-04 1.77886724e-03 -6.80233826e-01] [-4.79820124e-04 9.99991438e-01 4.11028820e-03 -1.13593874e+00] [-1.77690985e-03 -4.11113477e-03 9.99989971e-01 8.94915426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901652532 meters 0.2527838803688997 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99997205e-01 3.11559667e-04 2.34379689e-03 -6.81110446e-01] [-3.19997994e-04 9.99993466e-01 3.60076766e-03 -1.13455749e+00] [-2.34265972e-03 -3.60150761e-03 9.99990771e-01 8.86969196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931652532 meters 0.25287338389741715 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99996339e-01 -3.01627963e-04 2.68915830e-03 -6.80909409e-01] [ 2.95050339e-04 9.99996965e-01 2.44604003e-03 -1.13134342e+00] [-2.68988793e-03 -2.44523763e-03 9.99993393e-01 8.72277985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961652532 meters 0.25555473597313755 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99995863e-01 -2.32390438e-04 2.86702695e-03 -6.81005545e-01] [ 2.25197619e-04 9.99996827e-01 2.50887535e-03 -1.13169829e+00] [-2.86760089e-03 -2.50821932e-03 9.99992743e-01 8.66845231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991652531999996 meters 0.2537865184180346 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99996323e-01 -4.07372317e-04 2.68120937e-03 -6.80625917e-01] [ 4.01232379e-04 9.99997297e-01 2.29012775e-03 -1.13096589e+00] [-2.68213506e-03 -2.28904354e-03 9.99993783e-01 8.68532610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021652532 meters 0.25492396771095943 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.13, Z:0.09 [[ 9.99995869e-01 -1.10400612e-04 2.87225896e-03 -6.81226095e-01] [ 1.02527369e-04 9.99996238e-01 2.74113537e-03 -1.13240393e+00] [-2.87255077e-03 -2.74082956e-03 9.99992118e-01 8.70120033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051652532 meters 0.2539259885773703 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 9.99994630e-01 6.47252944e-04 3.21262011e-03 -6.83203506e-01] [-6.59780858e-04 9.99992177e-01 3.90006727e-03 -1.13541520e+00] [-3.21007065e-03 -3.90216595e-03 9.99987234e-01 8.86423334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081652532 meters 0.26080558881418814 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.14, Z:0.09 [[ 0.99999219 0.00118584 0.00376914 -0.68489418] [-0.00120332 0.99998851 0.00463954 -1.13757702] [-0.0037636 -0.00464404 0.99998213 0.08907744] [ 0. 0. 0. 1. ]] SLAMing on 46.111652532 meters 0.257032269966518 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99998852 0.0017159 0.00447425 -0.6868004 ] [-0.00173964 0.99998441 0.00530656 -1.13954548] [-0.00446507 -0.00531428 0.99997591 0.08926505] [ 0. 0. 0. 1. ]] SLAMing on 46.141652532 meters 0.2615229514798647 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99998457 0.00191629 0.00521399 -0.68832697] [-0.00194408 0.9999839 0.00533142 -1.13975924] [-0.00520369 -0.00534148 0.99997219 0.08873031] [ 0. 0. 0. 1. ]] SLAMing on 46.171652532 meters 0.2862450412491247 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99995727 0.00655208 0.00652195 -0.69083449] [-0.00661225 0.99993539 0.00924662 -1.13852147] [-0.00646095 -0.00928935 0.99993598 0.08759996] [ 0. 0. 0. 1. ]] SLAMing on 46.201652532 meters 0.2682935605528854 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99994961 0.00686312 0.00732589 -0.69277307] [-0.00693262 0.99993081 0.00950368 -1.13940922] [-0.00726016 -0.00955399 0.999928 0.08749389] [ 0. 0. 0. 1. ]] SLAMing on 46.231652532 meters 0.27629548664028963 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.9999419 0.00725383 0.00797358 -0.69411666] [-0.00733322 0.99992338 0.00997303 -1.14099777] [-0.00790062 -0.01003092 0.99991848 0.08703372] [ 0. 0. 0. 1. ]] SLAMing on 46.261652532 meters 0.27928388053644637 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99993848 0.00730918 0.00834383 -0.69455873] [-0.00739207 0.9999232 0.00994775 -1.14114194] [-0.00827048 -0.01000882 0.99991571 0.08629214] [ 0. 0. 0. 1. ]] SLAMing on 46.291652532 meters 0.2726957520576992 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99995303 0.00305695 0.00919734 -0.69558042] [-0.00310444 0.9999819 0.0051534 -1.13992683] [-0.00918142 -0.00518171 0.99994442 0.08449389] [ 0. 0. 0. 1. ]] SLAMing on 46.321652532 meters 0.2723888952544416 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99995236 0.00283909 0.00933939 -0.6955145 ] [-0.0028834 0.99998463 0.00473478 -1.13871067] [-0.00932581 -0.00476149 0.99994518 0.08390512] [ 0. 0. 0. 1. ]] SLAMing on 46.351652532 meters 0.274668371548892 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99994971 0.00300259 0.00956926 -0.69597073] [-0.00304998 0.99998314 0.00494125 -1.13946575] [-0.00955426 -0.00497019 0.999942 0.08368574] [ 0. 0. 0. 1. ]] SLAMing on 46.381652532 meters 0.27987079084156824 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99994998 0.00326231 0.0094552 -0.69598277] [-0.00331394 0.99997965 0.00545061 -1.14104108] [-0.00943722 -0.00548167 0.99994044 0.08413006] [ 0. 0. 0. 1. ]] SLAMing on 46.411652532 meters 0.2655119126066289 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 9.99964609e-01 -1.09823052e-03 8.34108459e-03 -6.94281240e-01] [ 1.08420494e-03 9.99997991e-01 1.68584177e-03 -1.14243295e+00] [-8.34291928e-03 -1.67673866e-03 9.99963791e-01 8.57877815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441652532 meters 0.2659883767097226 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 9.99964252e-01 -8.96176700e-04 8.40777537e-03 -6.94373038e-01] [ 8.79262038e-04 9.99997583e-01 2.01526881e-03 -1.14353269e+00] [-8.40956108e-03 -2.00780413e-03 9.99962623e-01 8.56289909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471652532 meters 0.2701742960859868 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.09 [[ 9.99958024e-01 -4.14997093e-04 9.15304479e-03 -6.96068731e-01] [ 3.91937280e-04 9.99996745e-01 2.52100958e-03 -1.14510659e+00] [-9.15406122e-03 -2.51731634e-03 9.99954932e-01 8.52623522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501652532 meters 0.2733837841570023 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 9.99949011e-01 -4.37933218e-04 1.00887576e-02 -6.97934972e-01] [ 4.16995733e-04 9.99997755e-01 2.07733848e-03 -1.14386707e+00] [-1.00896447e-02 -2.07302559e-03 9.99946949e-01 8.45247897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531652532 meters 0.2699166660521696 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 9.99956053e-01 -1.69407012e-03 9.22078646e-03 -6.95680469e-01] [ 1.68872272e-03 9.99998401e-01 5.87683828e-04 -1.14049502e+00] [-9.22176730e-03 -5.72086650e-04 9.99957315e-01 8.41009879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561652532 meters 0.2667408932328032 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.08 [[ 9.99962759e-01 -1.87413372e-03 8.42430754e-03 -6.93961151e-01] [ 1.86896429e-03 9.99998060e-01 6.21463759e-04 -1.14052493e+00] [-8.42545591e-03 -6.05695884e-04 9.99964322e-01 8.45613794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591652532 meters 0.2664523232864126 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 9.99967580e-01 -1.82601100e-03 7.84255147e-03 -6.93084018e-01] [ 1.81868781e-03 9.99997904e-01 9.40807142e-04 -1.14129903e+00] [-7.84425295e-03 -9.26513488e-04 9.99968804e-01 8.54321136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621652532 meters 0.2693053234047585 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.14, Z:0.09 [[ 0.99996652 -0.00142052 0.00805846 -0.69398531] [ 0.00140787 0.99999777 0.00157608 -1.14320919] [-0.00806068 -0.00156468 0.99996629 0.08591638] [ 0. 0. 0. 1. ]] SLAMing on 46.651652532 meters 0.2732302572804957 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.09 [[ 0.99995518 0.00299003 0.00898345 -0.69571862] [-0.00304139 0.99997908 0.00570853 -1.1428001 ] [-0.00896619 -0.0057356 0.99994335 0.08510107] [ 0. 0. 0. 1. ]] SLAMing on 46.681652532 meters 0.27572764675527706 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99994598 0.00300557 0.00995024 -0.69784476] [-0.00305894 0.999981 0.00535234 -1.14179051] [-0.00993396 -0.00538249 0.99993617 0.08465233] [ 0. 0. 0. 1. ]] SLAMing on 46.711652532 meters 0.2731692465879807 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.9999379 0.00296081 0.01074414 -0.69955878] [-0.00301427 0.99998314 0.00496306 -1.14067119] [-0.01072927 -0.00499513 0.99992996 0.08425235] [ 0. 0. 0. 1. ]] SLAMing on 46.741652531999996 meters 0.2731692465879807 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.9999379 0.00296081 0.01074414 -0.69955878] [-0.00301427 0.99998314 0.00496306 -1.14067119] [-0.01072927 -0.00499513 0.99992996 0.08425235] [ 0. 0. 0. 1. ]] SLAMing on 46.771652532 meters 0.27437283859693135 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992993 0.00310576 0.01142363 -0.70112074] [-0.00316277 0.99998262 0.00497585 -1.14077361] [-0.01140798 -0.00501163 0.99992237 0.08403384] [ 0. 0. 0. 1. ]] SLAMing on 46.801652532 meters 0.2756373825146985 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992589 0.00332882 0.01171067 -0.7020182 ] [-0.00339088 0.99998029 0.00528325 -1.14176252] [-0.01169285 -0.00532257 0.99991747 0.08430774] [ 0. 0. 0. 1. ]] SLAMing on 46.831652532 meters 0.27648325910659177 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992658 0.00348271 0.01160665 -0.70182109] [-0.00354766 0.99997814 0.00557999 -1.14272906] [-0.01158696 -0.00562076 0.99991707 0.08438953] [ 0. 0. 0. 1. ]] SLAMing on 46.861652532 meters 0.27514291528283286 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992865 0.00357716 0.01139693 -0.7013551 ] [-0.00364371 0.9999764 0.00582386 -1.14351798] [-0.01137583 -0.00586497 0.99991809 0.08448496] [ 0. 0. 0. 1. ]] SLAMing on 46.891652532 meters 0.27328998660455245 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.09 [[ 0.99993192 0.00381836 0.01102599 -0.70078749] [-0.00388915 0.99997192 0.0064063 -1.14533735] [-0.01100122 -0.00644874 0.99991869 0.08501335] [ 0. 0. 0. 1. ]] SLAMing on 46.921652532 meters 0.27450540178918365 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.9999288 0.00400543 0.0112409 -0.70113764] [-0.00408054 0.99996945 0.00666702 -1.14629517] [-0.01121385 -0.00671242 0.99991459 0.08471277] [ 0. 0. 0. 1. ]] SLAMing on 46.951652532 meters 0.2776361437323598 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.99992786 0.00388365 0.01136644 -0.70100161] [-0.00395662 0.99997166 0.00640436 -1.14562758] [-0.01134125 -0.00644887 0.99991489 0.0840627 ] [ 0. 0. 0. 1. ]] SLAMing on 46.981652532 meters 0.27952890293981264 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992765 0.00375262 0.01142817 -0.70059241] [-0.00382285 0.9999739 0.00613019 -1.14495169] [-0.01140487 -0.00617344 0.99991591 0.08324344] [ 0. 0. 0. 1. ]] SLAMing on 47.011652532 meters 0.2809996038452245 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99992214 0.00361309 0.01194421 -0.70098626] [-0.00368027 0.99997751 0.00560731 -1.14358043] [-0.01192368 -0.00565083 0.99991294 0.08190986] [ 0. 0. 0. 1. ]] SLAMing on 47.041652532 meters 0.27954697898996583 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.14, Z:0.08 [[ 0.99991499 0.00388444 0.01244724 -0.70200178] [-0.00395833 0.99997466 0.00591665 -1.144719 ] [-0.01242394 -0.00596541 0.99990503 0.08149078] [ 0. 0. 0. 1. ]] SLAMing on 47.071652532 meters 0.2806368260977956 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.99990855 0.00412622 0.01287884 -0.70310059] [-0.00420642 0.99997189 0.0062065 -1.14572792] [-0.01285287 -0.0062601 0.9998978 0.08149667] [ 0. 0. 0. 1. ]] SLAMing on 47.101652532 meters 0.28227068729306154 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.9999019 0.00443039 0.01328803 -0.70408039] [-0.00451875 0.99996783 0.00662713 -1.14717593] [-0.01325825 -0.00668653 0.99988975 0.08140804] [ 0. 0. 0. 1. ]] SLAMing on 47.131652532 meters 0.28569024331934695 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.99989637 0.0050282 0.01348951 -0.70468176] [-0.00513103 0.99995796 0.00759952 -1.15024148] [-0.01345074 -0.00766794 0.99988013 0.08150071] [ 0. 0. 0. 1. ]] SLAMing on 47.161652532 meters 0.28666626762936853 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.15, Z:0.08 [[ 0.99989847 0.00585121 0.0129929 -0.70363028] [-0.005969 0.99994127 0.00904543 -1.15471719] [-0.01293921 -0.00912207 0.99987467 0.08176706] [ 0. 0. 0. 1. ]] SLAMing on 47.191652532 meters 0.2859719465328845 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99990883 0.001826 0.01337892 -0.7048167 ] [-0.00189371 0.99998546 0.0050495 -1.15581673] [-0.0133695 -0.00507438 0.99989775 0.08202607] [ 0. 0. 0. 1. ]] SLAMing on 47.221652532 meters 0.2834316753700968 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99991445 0.00188834 0.01294314 -0.70379516] [-0.00195723 0.99998398 0.00531155 -1.15663956] [-0.0129329 -0.00533643 0.99990213 0.08213015] [ 0. 0. 0. 1. ]] SLAMing on 47.251652532 meters 0.28273497492612915 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.9999183 0.00163417 0.01267797 -0.70289542] [-0.00169717 0.99998626 0.00496049 -1.15557966] [-0.01266969 -0.00498161 0.99990733 0.08187418] [ 0. 0. 0. 1. ]] SLAMing on 47.281652532 meters 0.2786745472688781 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 9.99918133e-01 -2.73835770e-03 1.24991800e-02 -7.02507128e-01] [ 2.73196053e-03 9.99996128e-01 5.28852936e-04 -1.15521834e+00] [-1.25005798e-02 -4.94662373e-04 9.99921742e-01 8.20155264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311652532 meters 0.2791045619264365 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 9.99918609e-01 -2.64582594e-03 1.24810082e-02 -7.02387483e-01] [ 2.63750670e-03 9.99996289e-01 6.82964815e-04 -1.15575681e+00] [-1.24827689e-02 -6.49990484e-04 9.99921876e-01 8.18742243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341652532 meters 0.28453087173271996 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99991523 -0.00226691 0.01282168 -0.7033614 ] [ 0.00225115 0.99999669 0.0012438 -1.15755082] [-0.01282446 -0.00121484 0.99991703 0.0819707 ] [ 0. 0. 0. 1. ]] SLAMing on 47.371652532 meters 0.2818924843731141 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99991119 -0.00201233 0.01317437 -0.70451908] [ 0.00199142 0.99999674 0.00159999 -1.15864072] [-0.01317754 -0.00157361 0.99991193 0.08233548] [ 0. 0. 0. 1. ]] SLAMing on 47.401652532 meters 0.2873514424044008 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99991407 -0.00184343 0.012979 -0.70410457] [ 0.00181825 0.99999644 0.00195123 -1.15977782] [-0.01298255 -0.00192746 0.99991387 0.08241532] [ 0. 0. 0. 1. ]] SLAMing on 47.431652532 meters 0.2816659375717097 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99992411 -0.00180465 0.01218663 -0.70238999] [ 0.00177651 0.99999573 0.00231956 -1.1608694 ] [-0.01219077 -0.00229773 0.99992305 0.0828069 ] [ 0. 0. 0. 1. ]] SLAMing on 47.461652532 meters 0.28796891833444876 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.08 [[ 0.99993279 -0.00186038 0.01144373 -0.70086587] [ 0.0018323 0.99999529 0.00246379 -1.16114661] [-0.01144826 -0.00244266 0.99993148 0.08333827] [ 0. 0. 0. 1. ]] SLAMing on 47.491652531999996 meters 0.27451819959150675 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.09 [[ 9.99924609e-01 -5.97960220e-03 1.07248031e-02 -7.00241168e-01] [ 5.99239487e-03 9.99981371e-01 -1.16107366e-03 -1.16292617e+00] [-1.07176605e-02 1.22525338e-03 9.99941814e-01 8.51414269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521652532 meters 0.2712670065452263 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.09 [[ 9.99930717e-01 -5.93239017e-03 1.01670114e-02 -6.99236323e-01] [ 5.94099394e-03 9.99982019e-01 -8.16250837e-04 -1.16387464e+00] [-1.01619863e-02 8.76596437e-04 9.99947981e-01 8.57264526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551652532 meters 0.2698547652177821 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.09 [[ 0.99993524 -0.00632369 0.00946218 -0.69744237] [ 0.00633539 0.9999792 -0.00120745 -1.16274843] [-0.00945435 0.00126732 0.9999545 0.0858282 ] [ 0. 0. 0. 1. ]] SLAMing on 47.581652532 meters 0.2784400712333862 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.16, Z:0.09 [[ 9.99940465e-01 -6.43942353e-03 8.80908690e-03 -6.96028739e-01] [ 6.44923845e-03 9.99978613e-01 -1.08622852e-03 -1.16309990e+00] [-8.80190381e-03 1.14297576e-03 9.99960609e-01 8.62009050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611652532 meters 0.26910263369409937 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.16, Z:0.09 [[ 0.9998582 -0.01618925 0.00463622 -0.68601362] [ 0.01622636 0.99983568 -0.00808245 -1.15814676] [-0.00450461 0.00815653 0.99995659 0.08815305] [ 0. 0. 0. 1. ]] SLAMing on 47.641652532 meters 0.27658594455030827 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.16, Z:0.09 [[ 0.99984394 -0.01739755 0.00306786 -0.68188301] [ 0.01742378 0.99980998 -0.00874128 -1.15784692] [-0.0029152 0.00879337 0.99995709 0.08786236] [ 0. 0. 0. 1. ]] SLAMing on 47.671652532 meters 0.27511693289981987 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.16, Z:0.09 [[ 0.99982813 -0.01846701 0.00163889 -0.67794621] [ 0.01848166 0.99978475 -0.00942812 -1.1567893 ] [-0.00146443 0.00945679 0.99995421 0.08762148] [ 0. 0. 0. 1. ]] SLAMing on 47.701652532 meters 0.287889964266155 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.16, Z:0.09 [[ 9.99724084e-01 -2.34857149e-02 -4.21518239e-04 -6.74338552e-01] [ 2.34784302e-02 9.99642952e-01 -1.27566645e-02 -1.15949283e+00] [ 7.20967123e-04 1.27432482e-02 9.99918542e-01 9.05462477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731652532 meters 0.2652092292688807 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.16, Z:0.09 [[ 0.99970462 -0.02422335 -0.00197368 -0.67102577] [ 0.02419658 0.99962762 -0.01261523 -1.16058087] [ 0.00227853 0.01256375 0.99991848 0.09165989] [ 0. 0. 0. 1. ]] SLAMing on 47.761652532 meters 0.2667448940615345 Centerline is valid? [False, False] Translation: X:-0.67, Y:-1.16, Z:0.09 [[ 0.99969679 -0.02438901 -0.00339188 -0.66814013] [ 0.02434642 0.99963066 -0.01207495 -1.16213351] [ 0.00368512 0.01198871 0.99992134 0.09277998] [ 0. 0. 0. 1. ]] SLAMing on 47.791652532 meters 0.25774484683725446 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.99967539 -0.02500881 -0.00486657 -0.66477072] [ 0.02494929 0.99961753 -0.01192987 -1.16325805] [ 0.00516306 0.01180458 0.99991699 0.0934812 ] [ 0. 0. 0. 1. ]] SLAMing on 47.821652532 meters 0.27189929959550097 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.99954798 -0.02955897 -0.00548623 -0.66299578] [ 0.02946633 0.99943348 -0.01626212 -1.16334722] [ 0.00596381 0.01609311 0.99985271 0.09372516] [ 0. 0. 0. 1. ]] SLAMing on 47.851652532 meters 0.2725070457675282 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.99962421 -0.02656109 -0.0067785 -0.660098 ] [ 0.02647015 0.99956284 -0.01317018 -1.16138266] [ 0.00712535 0.01298581 0.99989029 0.09367606] [ 0. 0. 0. 1. ]] SLAMing on 47.881652532 meters 0.25038099015928317 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.99970442 -0.0229441 -0.0080402 -0.65737278] [ 0.02286846 0.9996945 -0.00937718 -1.16053682] [ 0.00825289 0.00919054 0.99992371 0.09394308] [ 0. 0. 0. 1. ]] SLAMing on 47.911652532 meters 0.256025305497018 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.99970971 -0.02267184 -0.00815314 -0.65748688] [ 0.02259942 0.99970527 -0.00886774 -1.16203427] [ 0.00835178 0.0086809 0.99992744 0.09446596] [ 0. 0. 0. 1. ]] SLAMing on 47.941652532 meters 0.24205768034183037 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.10 [[ 0.99971895 -0.02223805 -0.00821556 -0.65820966] [ 0.02217185 0.99972167 -0.00806232 -1.16424638] [ 0.00839257 0.0078779 0.99993375 0.09565771] [ 0. 0. 0. 1. ]] SLAMing on 47.971652532 meters 0.24213903554735192 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.17, Z:0.10 [[ 0.99972345 -0.02199994 -0.00830797 -0.65827915] [ 0.0219368 0.99973035 -0.00761627 -1.16555407] [ 0.00847329 0.00743191 0.99993648 0.09604083] [ 0. 0. 0. 1. ]] SLAMing on 48.001652532 meters 0.2373325316933536 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.17, Z:0.10 [[ 0.99979676 -0.0179455 -0.00918674 -0.65628409] [ 0.01791452 0.99983359 -0.00344311 -1.16534826] [ 0.009247 0.00327783 0.99995187 0.09611999] [ 0. 0. 0. 1. ]] SLAMing on 48.031652532 meters 0.24047065716524346 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.17, Z:0.10 [[ 0.99976825 -0.01875286 -0.01057267 -0.65298607] [ 0.01871483 0.99981807 -0.00368427 -1.16549493] [ 0.01063984 0.00348555 0.99993732 0.09649893] [ 0. 0. 0. 1. ]] SLAMing on 48.061652532 meters 0.24408015563962554 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.17, Z:0.10 [[ 0.99975006 -0.0190422 -0.01171354 -0.65039574] [ 0.01900187 0.99981316 -0.00354459 -1.16616361] [ 0.01177885 0.00332113 0.99992511 0.09700866] [ 0. 0. 0. 1. ]] SLAMing on 48.091652532 meters 0.25460693302390197 Centerline is valid? [False, False] Translation: X:-0.65, Y:-1.17, Z:0.10 [[ 0.99972857 -0.01939385 -0.01290991 -0.64776727] [ 0.01935153 0.99980698 -0.00339495 -1.16688767] [ 0.01297326 0.0031442 0.9999109 0.09772451] [ 0. 0. 0. 1. ]] SLAMing on 48.121652532 meters 0.23662889083081093 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.17, Z:0.10 [[ 0.99970054 -0.01988413 -0.01426365 -0.64489576] [ 0.01984063 0.99979808 -0.0031851 -1.16798814] [ 0.0143241 0.00290114 0.9998932 0.09871182] [ 0. 0. 0. 1. ]] SLAMing on 48.151652532 meters 0.2478159690560277 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.17, Z:0.10 [[ 0.99956255 -0.02494071 -0.01589543 -0.6413648 ] [ 0.02483134 0.99966686 -0.00704146 -1.17008727] [ 0.01606576 0.00664367 0.99984887 0.10019767] [ 0. 0. 0. 1. ]] SLAMing on 48.181652532 meters 0.24487858932618659 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.17, Z:0.10 [[ 0.99955103 -0.02496918 -0.01656113 -0.63976973] [ 0.02485935 0.9996678 -0.00680528 -1.17088261] [ 0.01672555 0.00639052 0.9998397 0.10037845] [ 0. 0. 0. 1. ]] SLAMing on 48.211652532 meters 0.22728236980938699 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.17, Z:0.10 [[ 0.99953702 -0.0250031 -0.01733777 -0.63818605] [ 0.02489247 0.99966856 -0.00656761 -1.17158781] [ 0.01749623 0.00613298 0.99982812 0.10098498] [ 0. 0. 0. 1. ]] SLAMing on 48.241652531999996 meters 0.26338188627885334 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.17, Z:0.11 [[ 0.99964064 -0.02007834 -0.01776107 -0.63077179] [ 0.01983718 0.99971002 -0.01365167 -1.16630349] [ 0.01803003 0.01329443 0.99974906 0.11003643] [ 0. 0. 0. 1. ]] SLAMing on 48.271652532 meters 0.2592098232316208 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.17, Z:0.11 [[ 0.99961664 -0.02047997 -0.01863203 -0.62898327] [ 0.02022517 0.99970072 -0.01376243 -1.16612746] [ 0.0189083 0.01338032 0.99973169 0.11074935] [ 0. 0. 0. 1. ]] SLAMing on 48.301652532 meters 0.2548676138014691 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.17, Z:0.11 [[ 0.99957151 -0.02128337 -0.02009506 -0.62563858] [ 0.02101135 0.99968602 -0.01365203 -1.16751072] [ 0.02037932 0.01322395 0.99970486 0.11149302] [ 0. 0. 0. 1. ]] SLAMing on 48.331652532 meters 0.24419706529113575 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.11 [[ 0.9995526 -0.02114734 -0.02115168 -0.62368683] [ 0.02087845 0.99969939 -0.01285379 -1.16984044] [ 0.02141714 0.01240642 0.99969365 0.11266546] [ 0. 0. 0. 1. ]] SLAMing on 48.361652532 meters 0.24663698306107118 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.11 [[ 0.99952121 -0.02127345 -0.02246773 -0.62127016] [ 0.02100883 0.99970788 -0.01194892 -1.17268987] [ 0.02271536 0.01147118 0.99967616 0.11426467] [ 0. 0. 0. 1. ]] SLAMing on 48.391652532 meters 0.22690767119467833 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.12 [[ 0.99951673 -0.02097883 -0.02293895 -0.62083692] [ 0.02072393 0.99972144 -0.01129411 -1.17442064] [ 0.0231695 0.01081326 0.99967307 0.11534524] [ 0. 0. 0. 1. ]] SLAMing on 48.421652532 meters 0.2418090973225353 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.18, Z:0.12 [[ 0.99952993 -0.020728 -0.02258931 -0.62204958] [ 0.02048419 0.99972997 -0.01097181 -1.17522235] [ 0.02281064 0.01050393 0.99968462 0.11570687] [ 0. 0. 0. 1. ]] SLAMing on 48.451652532 meters 0.2613031722205999 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.11 [[ 0.99970327 -0.022957 -0.0081453 -0.62405504] [ 0.02283539 0.99963085 -0.01472128 -1.1673244 ] [ 0.00848025 0.01453091 0.99985846 0.112823 ] [ 0. 0. 0. 1. ]] SLAMing on 48.481652532 meters 0.23871154183258333 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.11 [[ 0.99978676 -0.01873844 -0.00867739 -0.62285172] [ 0.01864675 0.99977068 -0.0105302 -1.1669937 ] [ 0.00887272 0.01036615 0.9999069 0.11270721] [ 0. 0. 0. 1. ]] SLAMing on 48.511652532 meters 0.23587709047907582 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.17, Z:0.11 [[ 0.9998578 -0.01441967 -0.0087441 -0.62264636] [ 0.01436486 0.99987698 -0.00629897 -1.16674795] [ 0.00883385 0.00617247 0.99994193 0.11237794] [ 0. 0. 0. 1. ]] SLAMing on 48.541652532 meters 0.2371932442006636 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.17, Z:0.11 [[ 0.99996735 -0.00684121 -0.0043009 -0.63281387] [ 0.0068275 0.9999716 -0.00319285 -1.16747375] [ 0.00432262 0.00316339 0.99998565 0.10812814] [ 0. 0. 0. 1. ]] SLAMing on 48.571652532 meters 0.2444568451868698 Centerline is valid? [False, False] Translation: X:-0.63, Y:-1.16, Z:0.11 [[ 9.99989952e-01 -2.88932776e-03 -3.42747388e-03 -6.34331369e-01] [ 2.88939620e-03 9.99995826e-01 1.50149406e-05 -1.16427302e+00] [ 3.42741619e-03 -2.49181198e-05 9.99994126e-01 1.07006530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601652532 meters 0.25457616874058625 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.16, Z:0.11 [[ 9.99996983e-01 -1.82466265e-03 -1.64484212e-03 -6.38583875e-01] [ 1.82501041e-03 9.99998313e-01 2.09944397e-04 -1.16398911e+00] [ 1.64445626e-03 -2.12945617e-04 9.99998625e-01 1.06337708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631652532 meters 0.25457616874058625 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.16, Z:0.11 [[ 9.99996983e-01 -1.82466265e-03 -1.64484212e-03 -6.38583875e-01] [ 1.82501041e-03 9.99998313e-01 2.09944397e-04 -1.16398911e+00] [ 1.64445626e-03 -2.12945617e-04 9.99998625e-01 1.06337708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661652532 meters 0.2507363188333118 Centerline is valid? [False, False] Translation: X:-0.64, Y:-1.16, Z:0.10 [[ 0.99997055 0.00741089 0.00199421 -0.64420861] [-0.00742196 0.99995675 0.0056048 -1.15770777] [-0.00195259 -0.00561943 0.9999823 0.10049562] [ 0. 0. 0. 1. ]] SLAMing on 48.691652532 meters 0.23501896351840643 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.10 [[ 0.99985164 0.01565931 0.0071753 -0.65580931] [-0.01572174 0.99983831 0.00872809 -1.15947135] [-0.00703747 -0.0088396 0.99993617 0.09560595] [ 0. 0. 0. 1. ]] SLAMing on 48.721652532 meters 0.24010646176028502 Centerline is valid? [False, False] Translation: X:-0.66, Y:-1.16, Z:0.09 [[ 0.9997427 0.02077365 0.0091102 -0.66004317] [-0.02088989 0.99969913 0.01285552 -1.15840428] [-0.0088404 -0.01304253 0.99987586 0.09473972] [ 0. 0. 0. 1. ]] SLAMing on 48.751652532 meters 0.2673638593544078 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.16, Z:0.09 [[ 0.99917557 0.03737251 0.01585783 -0.67714872] [-0.03772957 0.99902674 0.02284859 -1.16370665] [-0.01498848 -0.02342806 0.99961316 0.09128869] [ 0. 0. 0. 1. ]] SLAMing on 48.781652532 meters 0.2553360149773281 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.17, Z:0.09 [[ 0.99869844 0.04617372 0.02166574 -0.69292814] [-0.04673093 0.99857017 0.02595832 -1.17038386] [-0.02043616 -0.02693699 0.99942822 0.08907126] [ 0. 0. 0. 1. ]] SLAMing on 48.811652532 meters 0.26538228668823394 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.17, Z:0.09 [[ 0.99802742 0.05653064 0.02730505 -0.70736863] [-0.05736225 0.99788134 0.03069863 -1.17492353] [-0.02551179 -0.03220436 0.99915566 0.08640138] [ 0. 0. 0. 1. ]] SLAMing on 48.841652532 meters 0.2717006856750041 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.18, Z:0.08 [[ 0.99739841 0.06405401 0.03306805 -0.72240696] [-0.06512835 0.99734741 0.03250286 -1.18146084] [-0.0308984 -0.03457197 0.99892446 0.08363649] [ 0. 0. 0. 1. ]] SLAMing on 48.871652532 meters 0.2824732691875037 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.19, Z:0.08 [[ 0.99665705 0.07188912 0.03881602 -0.73650143] [-0.07324508 0.99670945 0.03471923 -1.18966777] [-0.03619236 -0.03744625 0.99864303 0.08011432] [ 0. 0. 0. 1. ]] SLAMing on 48.901652532 meters 0.30735042954181657 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.20, Z:0.08 [[ 0.99534924 0.08468126 0.0459236 -0.75324852] [-0.08657618 0.99540233 0.04097276 -1.19958312] [-0.04224283 -0.0447581 0.99810433 0.07594543] [ 0. 0. 0. 1. ]] SLAMing on 48.931652532 meters 0.3324005313481174 Centerline is valid? [False, False] Translation: X:-0.77, Y:-1.21, Z:0.08 [[ 0.99426371 0.09387406 0.05125761 -0.76869251] [-0.09622056 0.99432385 0.04540571 -1.2125695 ] [-0.04670425 -0.05007729 0.99765273 0.07580453] [ 0. 0. 0. 1. ]] SLAMing on 48.961652532 meters 0.32425819874902595 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.24, Z:0.08 [[ 0.99147862 0.11779211 0.05563415 -0.79485619] [-0.12064181 0.99138612 0.05098155 -1.24111534] [-0.0491497 -0.05725892 0.9971488 0.08092793] [ 0. 0. 0. 1. ]] SLAMing on 48.991652531999996 meters 0.3674585964334306 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.26, Z:0.08 [[ 0.99039229 0.12424826 0.0607082 -0.81116695] [-0.12747955 0.99044507 0.05260722 -1.25586601] [-0.05359178 -0.05984084 0.99676828 0.08178417] [ 0. 0. 0. 1. ]] SLAMing on 49.021652532 meters 0.33830684281419604 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.27, Z:0.08 [[ 0.98912509 0.13161202 0.06564937 -0.82752586] [-0.13529886 0.9892618 0.0552748 -1.27249945] [-0.05766958 -0.06355598 0.99631062 0.08310648] [ 0. 0. 0. 1. ]] SLAMing on 49.051652532 meters 0.34384647239720406 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.31, Z:0.09 [[ 0.988163 0.13975251 0.06327028 -0.85378888] [-0.14359687 0.98775849 0.06093521 -1.30895401] [-0.0539799 -0.06929934 0.99613441 0.08630782] [ 0. 0. 0. 1. ]] SLAMing on 49.081652532 meters 0.34543605086139284 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.34, Z:0.09 [[ 0.98821721 0.14054797 0.06060547 -0.88081341] [-0.14421567 0.98765807 0.06110131 -1.34339049] [-0.05126981 -0.06912162 0.99628992 0.09051767] [ 0. 0. 0. 1. ]] SLAMing on 49.111652532 meters 0.36306258726082496 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.36, Z:0.09 [[ 0.98768336 0.14242493 0.06478203 -0.89691951] [-0.14624553 0.98750921 0.05863283 -1.35824012] [-0.05562207 -0.06738475 0.99617543 0.09237378] [ 0. 0. 0. 1. ]] SLAMing on 49.141652532 meters 0.3686759737553885 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.39, Z:0.10 [[ 0.98713288 0.1473449 0.06211399 -0.92346716] [-0.15119171 0.98652123 0.06258543 -1.39283186] [-0.05205512 -0.07117126 0.99610487 0.0964767 ] [ 0. 0. 0. 1. ]] SLAMing on 49.171652532 meters 0.368246809660399 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.43, Z:0.10 [[ 0.98645245 0.15301844 0.05913474 -0.94857235] [-0.156862 0.98534684 0.06697705 -1.42592208] [-0.04801951 -0.07534567 0.99600058 0.09981462] [ 0. 0. 0. 1. ]] SLAMing on 49.201652532 meters 0.36738032028556933 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.10 [[ 0.98617828 0.1558565 0.05622406 -0.97619505] [-0.15954911 0.98480536 0.06857472 -1.46175501] [-0.04468194 -0.07659739 0.99606042 0.10437623] [ 0. 0. 0. 1. ]] SLAMing on 49.231652532 meters 0.3624987931998614 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.47, Z:0.11 [[ 0.98633188 0.15365866 0.05948477 -0.98907598] [-0.15736925 0.98548182 0.06372204 -1.47345378] [-0.04882972 -0.07221215 0.99619329 0.10546826] [ 0. 0. 0. 1. ]] SLAMing on 49.261652532 meters 0.3884214847580317 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.11 [[ 0.98665602 0.15100782 0.06088126 -0.99658643] [-0.15468443 0.98607785 0.06101802 -1.48373655] [-0.05081946 -0.06962118 0.99627821 0.10810528] [ 0. 0. 0. 1. ]] SLAMing on 49.291652532 meters 0.36591786714158336 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.11 [[ 0.98630646 0.15048699 0.06747761 -1.019593 ] [-0.15465494 0.98605338 0.06148644 -1.51259081] [-0.05728362 -0.07108022 0.99582438 0.11449559] [ 0. 0. 0. 1. ]] SLAMing on 49.321652532 meters 0.3620221329321794 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.54, Z:0.12 [[ 0.98745754 0.14493123 0.06263028 -1.0393136 ] [-0.14908906 0.98649844 0.06777367 -1.54277409] [-0.05196215 -0.07626111 0.99573298 0.11755333] [ 0. 0. 0. 1. ]] SLAMing on 49.351652532 meters 0.36352579914245564 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.55, Z:0.12 [[ 0.98794285 0.1413155 0.06323646 -1.04503795] [-0.14533759 0.98729087 0.06429403 -1.55114491] [-0.05334703 -0.07270946 0.99592541 0.12055633] [ 0. 0. 0. 1. ]] SLAMing on 49.381652532 meters 0.3660384048180645 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.55, Z:0.12 [[ 0.98838768 0.13812458 0.0633356 -1.0473897 ] [-0.14199307 0.98796877 0.06128354 -1.55485429] [-0.05410883 -0.06956511 0.99610889 0.12160852] [ 0. 0. 0. 1. ]] SLAMing on 49.411652532 meters 0.36175967116679925 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.56, Z:0.12 [[ 0.98884073 0.13490359 0.06320625 -1.04935182] [-0.13861174 0.98861821 0.05848771 -1.55930996] [-0.05459664 -0.06659616 0.99628518 0.12307345] [ 0. 0. 0. 1. ]] SLAMing on 49.441652532 meters 0.3542158644434345 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.12 [[ 0.98954763 0.12830256 0.0658326 -1.06160877] [-0.13248756 0.98913502 0.06371003 -1.57546444] [-0.05694317 -0.07176611 0.99579471 0.11884491] [ 0. 0. 0. 1. ]] SLAMing on 49.471652532 meters 0.35189632099304635 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.12 [[ 0.990038 0.1247724 0.06524261 -1.06189382] [-0.12872632 0.98984044 0.06037752 -1.57854294] [-0.05704633 -0.06817449 0.99604114 0.11945621] [ 0. 0. 0. 1. ]] SLAMing on 49.501652532 meters 0.35570736824582794 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.59, Z:0.11 [[ 0.99088547 0.11670298 0.06727852 -1.07205968] [-0.12099046 0.99061289 0.06361934 -1.59145344] [-0.0592224 -0.07117954 0.99570386 0.11256201] [ 0. 0. 0. 1. ]] SLAMing on 49.531652532 meters 0.3481003417793628 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.61, Z:0.11 [[ 0.99206923 0.10519663 0.06879187 -1.08206327] [-0.10959708 0.99193507 0.06366548 -1.60815132] [-0.06153967 -0.07069995 0.9955975 0.10773963] [ 0. 0. 0. 1. ]] SLAMing on 49.561652532 meters 0.3371209432023662 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.61, Z:0.11 [[ 0.9927594 0.09842273 0.06886028 -1.08566473] [-0.10244202 0.99307609 0.05749356 -1.61464716] [-0.06272483 -0.06413146 0.99596825 0.11037548] [ 0. 0. 0. 1. ]] SLAMing on 49.591652532 meters 0.34323679632328485 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.62, Z:0.11 [[ 0.99340065 0.09158751 0.06904262 -1.08918798] [-0.09519291 0.99415819 0.05087046 -1.61958109] [-0.06398019 -0.05710712 0.99631587 0.11256882] [ 0. 0. 0. 1. ]] SLAMing on 49.621652532 meters 0.3342787760816982 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.63, Z:0.12 [[ 0.9944431 0.08970418 0.05510072 -1.09028934] [-0.0925687 0.9943559 0.0518399 -1.63330561] [-0.05013947 -0.05665243 0.99713416 0.1156783 ] [ 0. 0. 0. 1. ]] SLAMing on 49.651652532 meters 0.33576269536353875 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.64, Z:0.12 [[ 0.99476826 0.0861865 0.05484524 -1.09118143] [-0.08887296 0.99485725 0.04858647 -1.63657186] [-0.05037569 -0.05320654 0.99731206 0.11663071] [ 0. 0. 0. 1. ]] SLAMing on 49.681652532 meters 0.3149896477380009 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.66, Z:0.12 [[ 0.99631557 0.07074846 0.04847615 -1.10032761] [-0.07313999 0.9960937 0.04947614 -1.65796569] [-0.04478642 -0.05283939 0.9975982 0.12032113] [ 0. 0. 0. 1. ]] SLAMing on 49.711652532 meters 0.313294897824915 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.66, Z:0.12 [[ 0.9965827 0.06729775 0.04789494 -1.10057896] [-0.06953043 0.99649153 0.04658484 -1.66213696] [-0.04459185 -0.0497558 0.99776547 0.12187734] [ 0. 0. 0. 1. ]] SLAMing on 49.741652531999996 meters 0.3105411350783997 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.67, Z:0.12 [[ 0.99702186 0.06023373 0.04815926 -1.10370366] [-0.06217808 0.99726526 0.03994868 -1.66709321] [-0.0456213 -0.04282415 0.99804047 0.12405057] [ 0. 0. 0. 1. ]] SLAMing on 49.771652532 meters 0.3029894462115301 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.67, Z:0.13 [[ 0.99725817 0.05652927 0.04775544 -1.10422055] [-0.0582989 0.99763122 0.03651287 -1.66958222] [-0.04557827 -0.03919685 0.99819148 0.12549805] [ 0. 0. 0. 1. ]] SLAMing on 49.801652532 meters 0.3004890235312875 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.68, Z:0.13 [[ 0.99829119 0.04844484 0.03267706 -1.10194788] [-0.04944089 0.99831444 0.03039524 -1.67936263] [-0.03114949 -0.03195888 0.99900367 0.12812141] [ 0. 0. 0. 1. ]] SLAMing on 49.831652532 meters 0.3028642513452082 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.68, Z:0.13 [[ 0.99845348 0.04474872 0.03298783 -1.10332853] [-0.04564025 0.99859872 0.02678731 -1.68163114] [-0.03174291 -0.02825145 0.99909671 0.12827467] [ 0. 0. 0. 1. ]] SLAMing on 49.861652532 meters 0.29170786954399164 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.68, Z:0.13 [[ 0.99860537 0.04081369 0.03348961 -1.10512784] [-0.04158701 0.99887633 0.02272886 -1.6824988 ] [-0.03252433 -0.0240899 0.99918059 0.12840804] [ 0. 0. 0. 1. ]] SLAMing on 49.891652532 meters 0.2882656860330385 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.70, Z:0.13 [[ 0.99905928 0.03870264 0.01956186 -1.10641183] [-0.03916341 0.9989506 0.02374716 -1.6956496 ] [-0.01862225 -0.02449093 0.99952659 0.13213627] [ 0. 0. 0. 1. ]] SLAMing on 49.921652532 meters 0.28627196365077034 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.70, Z:0.13 [[ 0.99918809 0.03493489 0.0200678 -1.10831188] [-0.03533724 0.99917414 0.02005762 -1.69757467] [-0.01935052 -0.02075048 0.99959741 0.13260649] [ 0. 0. 0. 1. ]] SLAMing on 49.951652532 meters 0.28799118356238806 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.70, Z:0.13 [[ 0.99926793 0.03199849 0.02096887 -1.11048995] [-0.0323662 0.99932395 0.0174378 -1.70181175] [-0.02039671 -0.01810372 0.99962805 0.13245836] [ 0. 0. 0. 1. ]] SLAMing on 49.981652532 meters 0.2854494944057983 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.70, Z:0.13 [[ 0.99937714 0.02813511 0.02130118 -1.11140934] [-0.02842754 0.99950398 0.01355221 -1.70325327] [-0.02090932 -0.01414931 0.99968125 0.13204339] [ 0. 0. 0. 1. ]] SLAMing on 50.011652532 meters 0.2858248203086109 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.70, Z:0.13 [[ 0.99936541 0.02842039 0.02147248 -1.11212572] [-0.02872555 0.99948874 0.01403955 -1.70479693] [-0.02106249 -0.01464745 0.99967086 0.13241645] [ 0. 0. 0. 1. ]] SLAMing on 50.041652532 meters 0.28693797965208284 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.71, Z:0.13 [[ 0.99945278 0.02463026 0.02207897 -1.11440282] [-0.02486152 0.99963824 0.01026134 -1.70622021] [-0.02181825 -0.01080464 0.99970357 0.13322324] [ 0. 0. 0. 1. ]] SLAMing on 50.071652532 meters 0.28458024896514666 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99962989 0.02605962 0.0078085 -1.11226649] [-0.02615537 0.99958071 0.01242164 -1.71614966] [-0.00748153 -0.01262128 0.99989236 0.13539344] [ 0. 0. 0. 1. ]] SLAMing on 50.101652532 meters 0.28276278406377375 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99972176 0.02224121 0.00785743 -1.11295191] [-0.02231079 0.99971164 0.00888114 -1.71868142] [-0.00765764 -0.00905398 0.99992969 0.1358008 ] [ 0. 0. 0. 1. ]] SLAMing on 50.131652532 meters 0.2760070681453785 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99984344 0.0166328 0.0060369 -1.10858466] [-0.01665906 0.99985187 0.00432673 -1.71922049] [-0.00596404 -0.00442663 0.99997242 0.13616158] [ 0. 0. 0. 1. ]] SLAMing on 50.161652532 meters 0.2713841350607012 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 9.99901453e-01 1.27706117e-02 5.83057429e-03 -1.10873479e+00] [-1.27756448e-02 9.99918046e-01 8.26793057e-04 -1.72173486e+00] [-5.81953780e-03 -9.01200925e-04 9.99982660e-01 1.36836898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191652532 meters 0.2700065182575467 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994181 0.00894137 0.00603585 -1.1098609 ] [-0.00892502 0.99995644 -0.00273129 -1.72402382] [-0.00606001 0.00267726 0.99997805 0.13748382] [ 0. 0. 0. 1. ]] SLAMing on 50.221652532 meters 0.2707929632656483 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994151 0.00901878 0.00596994 -1.10967433] [-0.00900357 0.99995617 -0.00256975 -1.72453338] [-0.00599285 0.00251585 0.99997888 0.13741557] [ 0. 0. 0. 1. ]] SLAMing on 50.251652532 meters 0.2877844796871739 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994356 0.00885179 0.00587494 -1.10935888] [-0.00883538 0.99995701 -0.00281346 -1.72370459] [-0.00589959 0.0027614 0.99997878 0.13732684] [ 0. 0. 0. 1. ]] SLAMing on 50.281652532 meters 0.2711896605812201 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994477 0.00868296 0.00592085 -1.10931352] [-0.00866448 0.99995753 -0.0031403 -1.72264745] [-0.00594787 0.00308882 0.99997754 0.13711945] [ 0. 0. 0. 1. ]] SLAMing on 50.311652532 meters 0.26778191625251857 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994699 0.00845738 0.00587352 -1.10950641] [-0.00843736 0.99995854 -0.00342537 -1.72175395] [-0.00590225 0.00337563 0.99997688 0.13764805] [ 0. 0. 0. 1. ]] SLAMing on 50.341652532 meters 0.27363946511079684 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99994888 0.00840302 0.0056237 -1.109443 ] [-0.00838375 0.99995893 -0.00344193 -1.72151142] [-0.00565239 0.00339461 0.99997826 0.13851695] [ 0. 0. 0. 1. ]] SLAMing on 50.371652532 meters 0.2683343891369766 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.999943 0.00884185 0.00598511 -1.11040618] [-0.00882507 0.99995707 -0.00282368 -1.72347013] [-0.00600982 0.0027707 0.9999781 0.13848294] [ 0. 0. 0. 1. ]] SLAMing on 50.401652532 meters 0.2682571029839207 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.73, Z:0.14 [[ 0.99993748 0.00923438 0.00630586 -1.11130774] [-0.00922036 0.99995496 -0.00224849 -1.72529368] [-0.00632634 0.00219021 0.99997759 0.13850488] [ 0. 0. 0. 1. ]] SLAMing on 50.431652532 meters 0.270132187897455 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.73, Z:0.14 [[ 0.99993258 0.00945268 0.00674375 -1.11258329] [-0.00943914 0.99995338 -0.0020363 -1.72589149] [-0.00676269 0.00197251 0.99997519 0.13865751] [ 0. 0. 0. 1. ]] SLAMing on 50.461652532 meters 0.2728439495450574 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 0.99987976 0.01365543 0.00734761 -1.11365246] [-0.01366995 0.9999047 0.00192957 -1.7248473 ] [-0.00732056 -0.00202978 0.99997114 0.13814811] [ 0. 0. 0. 1. ]] SLAMing on 50.491652531999996 meters 0.2761396890841803 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.72, Z:0.14 [[ 9.99876856e-01 1.34729982e-02 8.04685634e-03 -1.11457334e+00] [-1.34837161e-02 9.99908272e-01 1.27917165e-03 -1.72307366e+00] [-8.02888394e-03 -1.38751566e-03 9.99966805e-01 1.36922374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521652532 meters 0.28174971119894204 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.14 [[ 9.99866652e-01 1.35350266e-02 9.13681026e-03 -1.11624925e+00] [-1.35411534e-02 9.99908129e-01 6.09036333e-04 -1.72142969e+00] [-9.12772753e-03 -7.32678069e-04 9.99958073e-01 1.35260251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551652532 meters 0.28174971119894204 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.14 [[ 9.99866652e-01 1.35350266e-02 9.13681026e-03 -1.11624925e+00] [-1.35411534e-02 9.99908129e-01 6.09036333e-04 -1.72142969e+00] [-9.12772753e-03 -7.32678069e-04 9.99958073e-01 1.35260251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581652532 meters 0.28201326599800464 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.13 [[ 9.99858002e-01 1.37765841e-02 9.70473777e-03 -1.11745218e+00] [-1.37854069e-02 9.99904622e-01 8.42820228e-04 -1.72232247e+00] [-9.69220096e-03 -9.76484308e-04 9.99952553e-01 1.34860841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611652532 meters 0.2825345467891927 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.13 [[ 9.99849078e-01 1.40039022e-02 1.02816266e-02 -1.11873549e+00] [-1.40148391e-02 9.99901295e-01 9.92454988e-04 -1.72293961e+00] [-1.02667135e-02 -1.13640055e-03 9.99946650e-01 1.34545886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641652532 meters 0.2830994352074399 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.13 [[ 9.99840985e-01 1.42163717e-02 1.07656666e-02 -1.11980684e+00] [-1.42299399e-02 9.99898047e-01 1.18476551e-03 -1.72367586e+00] [-1.07477259e-02 -1.33777190e-03 9.99941347e-01 1.34249958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671652531999996 meters 0.2878499414041883 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.72, Z:0.13 [[ 9.99826447e-01 1.45361895e-02 1.16522800e-02 -1.12180227e+00] [-1.45518128e-02 9.99893326e-01 1.25712854e-03 -1.72402688e+00] [-1.16327632e-02 -1.42647216e-03 9.99931320e-01 1.33824617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701652532 meters 0.29208107313484244 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.73, Z:0.13 [[ 0.99974805 0.01764636 0.01387237 -1.1269012 ] [-0.01769458 0.99983779 0.00336091 -1.72653844] [-0.01381081 -0.00360552 0.99989813 0.13306164] [ 0. 0. 0. 1. ]] SLAMing on 50.731652532 meters 0.2935799834629918 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.73, Z:0.13 [[ 0.99973153 0.017755 0.01488743 -1.12915605] [-0.01780299 0.99983672 0.00309715 -1.72589385] [-0.01483 -0.00336136 0.99988438 0.13262933] [ 0. 0. 0. 1. ]] SLAMing on 50.761652532 meters 0.2988272627137013 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.73, Z:0.13 [[ 0.99968134 0.01917526 0.01641735 -1.13276081] [-0.0192459 0.99980615 0.00415509 -1.7283526 ] [-0.01633449 -0.00446973 0.99985659 0.13225595] [ 0. 0. 0. 1. ]] SLAMing on 50.791652532 meters 0.3067153165300122 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.13 [[ 0.99952577 0.0249306 0.018075 -1.13571787] [-0.02510559 0.99963947 0.00952002 -1.73043874] [-0.01783114 -0.00996929 0.99979131 0.13093884] [ 0. 0. 0. 1. ]] SLAMing on 50.821652532 meters 0.31166342978664735 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.13 [[ 0.99957927 0.02165688 0.01929386 -1.13926861] [-0.02177759 0.99974442 0.00606834 -1.73261688] [-0.01915751 -0.00648596 0.99979544 0.13136436] [ 0. 0. 0. 1. ]] SLAMing on 50.851652532 meters 0.3104961078432621 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.13 [[ 0.99956005 0.02194677 0.01995129 -1.14071015] [-0.02207743 0.99973608 0.00635253 -1.73373552] [-0.0198066 -0.00679021 0.99978077 0.13102376] [ 0. 0. 0. 1. ]] SLAMing on 50.881652532 meters 0.32242532052422035 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.74, Z:0.12 [[ 0.99952427 0.02175483 0.0218622 -1.14969519] [-0.02214577 0.99959625 0.01780163 -1.7437318 ] [-0.0214661 -0.01827732 0.99960249 0.12199172] [ 0. 0. 0. 1. ]] SLAMing on 50.911652532 meters 0.3192982981113242 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.75, Z:0.12 [[ 0.99947998 0.02265096 0.02295018 -1.15232006] [-0.02308748 0.99955407 0.01893753 -1.74709439] [-0.02251099 -0.01945754 0.99955723 0.12198508] [ 0. 0. 0. 1. ]] SLAMing on 50.941652532 meters 0.3271236873123546 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.12 [[ 0.9994307 0.02345514 0.02425155 -1.15553503] [-0.02393314 0.99952119 0.01961135 -1.74876852] [-0.02377995 -0.0201806 0.99951351 0.12210197] [ 0. 0. 0. 1. ]] SLAMing on 50.971652532 meters 0.32990711523679067 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.12 [[ 0.99942263 0.02347371 0.02456407 -1.15605485] [-0.02395665 0.99952174 0.01955452 -1.74876489] [-0.0240933 -0.02013171 0.99950699 0.12173262] [ 0. 0. 0. 1. ]] SLAMing on 51.001652532 meters 0.3220892806279692 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.12 [[ 0.99941236 0.02363034 0.02483032 -1.15645812] [-0.0241232 0.99951407 0.01974048 -1.74956636] [-0.02435178 -0.02032787 0.99949676 0.12130399] [ 0. 0. 0. 1. ]] SLAMing on 51.031652532 meters 0.32639032151100633 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.12 [[ 0.99940377 0.02394672 0.02487271 -1.15662194] [-0.02445398 0.99949494 0.0202943 -1.75151008] [-0.02437417 -0.02089044 0.99948461 0.12136353] [ 0. 0. 0. 1. ]] SLAMing on 51.061652532 meters 0.3245711443435097 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.12 [[ 0.99975089 0.02007371 0.00975695 -1.15343495] [-0.02023927 0.9996476 0.01717671 -1.76018868] [-0.00940871 -0.0173699 0.99980486 0.12479172] [ 0. 0. 0. 1. ]] SLAMing on 51.091652532 meters 0.31584128017393776 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.13 [[ 0.99981218 0.01636681 0.01037948 -1.15545018] [-0.01650772 0.99977071 0.01363928 -1.76272573] [-0.01015387 -0.01380806 0.99985311 0.12519411] [ 0. 0. 0. 1. ]] SLAMing on 51.121652532 meters 0.3203807520024866 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.13 [[ 0.99984625 0.01310635 0.01164924 -1.15871079] [-0.01322524 0.99986064 0.01018773 -1.76507724] [-0.0115141 -0.01034022 0.99988025 0.12503892] [ 0. 0. 0. 1. ]] SLAMing on 51.151652532 meters 0.31600507289812285 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.12 [[ 0.99984101 0.01305836 0.01214226 -1.15947278] [-0.01317912 0.99986395 0.00991953 -1.76441474] [-0.01201108 -0.01007798 0.99987708 0.12432723] [ 0. 0. 0. 1. ]] SLAMing on 51.181652532 meters 0.3112484714170701 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.12 [[ 0.99989135 0.00844706 0.01208045 -1.15954501] [-0.00850965 0.99995059 0.00513891 -1.76310058] [-0.01203644 -0.00524116 0.99991382 0.12464216] [ 0. 0. 0. 1. ]] SLAMing on 51.211652532 meters 0.30720186753206435 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.13 [[ 0.99989668 0.00824008 0.0117786 -1.15910752] [-0.00829871 0.99995338 0.0049374 -1.7624409 ] [-0.01173736 -0.00503464 0.99991844 0.1252496 ] [ 0. 0. 0. 1. ]] SLAMing on 51.241652531999996 meters 0.3077309000848248 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.13 [[ 0.99989248 0.00834567 0.01205752 -1.159814 ] [-0.0084071 0.99995189 0.00505299 -1.7628933 ] [-0.01201476 -0.00515382 0.99991454 0.12525434] [ 0. 0. 0. 1. ]] SLAMing on 51.271652532 meters 0.3147460643578264 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99987629 0.00924029 0.01272851 -1.16093602] [-0.00931783 0.99993831 0.00604562 -1.76541155] [-0.01267187 -0.00616348 0.99990071 0.12441243] [ 0. 0. 0. 1. ]] SLAMing on 51.301652532 meters 0.3172645381170508 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99987638 0.00946894 0.0125523 -1.16034156] [-0.00955067 0.99993348 0.0064667 -1.76684445] [-0.01249023 -0.00658578 0.99990031 0.12415193] [ 0. 0. 0. 1. ]] SLAMing on 51.331652532 meters 0.3153722358576501 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99990545 0.00522803 0.01271853 -1.16116705] [-0.0052559 0.99998386 0.0021589 -1.7668782 ] [-0.01270704 -0.00222554 0.99991679 0.12463462] [ 0. 0. 0. 1. ]] SLAMing on 51.361652532 meters 0.317923230961932 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99991262 0.00530493 0.01210829 -1.15979303] [-0.005336 0.99998255 0.0025353 -1.76809636] [-0.01209463 -0.00259969 0.99992348 0.12486456] [ 0. 0. 0. 1. ]] SLAMing on 51.391652532 meters 0.3204454829551802 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.13 [[ 0.99991215 0.00564611 0.01199259 -1.1596707 ] [-0.00568453 0.99997881 0.00317259 -1.77022619] [-0.01197442 -0.00324048 0.99992305 0.12503063] [ 0. 0. 0. 1. ]] SLAMing on 51.421652531999996 meters 0.3137925827377433 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99991366 0.00586295 0.01175989 -1.15898757] [-0.00590565 0.99997608 0.00359956 -1.77167188] [-0.01173851 -0.0036687 0.99992437 0.12484238] [ 0. 0. 0. 1. ]] SLAMing on 51.451652532 meters 0.31501773916066833 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.13 [[ 9.99928067e-01 1.61826753e-03 1.18845080e-02 -1.15947202e+00] [-1.61026369e-03 9.99998470e-01 -6.83006493e-04 -1.77186712e+00] [-1.18855951e-02 6.63820170e-04 9.99929143e-01 1.25049768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481652532 meters 0.32707599899209266 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99992487 -0.002806 0.01193246 -1.15943123] [ 0.00286865 0.99998218 -0.00523608 -1.77121364] [-0.01191755 0.00526992 0.9999151 0.12485363] [ 0. 0. 0. 1. ]] SLAMing on 51.511652532 meters 0.3118837442480216 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99992716 -0.0027034 0.01176312 -1.1586632 ] [ 0.00276221 0.99998375 -0.00498599 -1.77215817] [-0.01174945 0.00501812 0.99991838 0.12430747] [ 0. 0. 0. 1. ]] SLAMing on 51.541652532 meters 0.32739043390852224 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 9.99942618e-01 9.68642060e-04 1.06687667e-02 -1.15550236e+00] [-9.58547314e-04 9.99999088e-01 -9.51268973e-04 -1.77194304e+00] [-1.06696784e-02 9.40987869e-04 9.99942635e-01 1.23673449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571652532 meters 0.3025657583169239 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.12 [[ 9.99955873e-01 6.21465347e-04 9.37362726e-03 -1.15292945e+00] [-6.16738432e-04 9.99999681e-01 -5.07160261e-04 -1.77331886e+00] [-9.37393946e-03 5.01356806e-04 9.99955938e-01 1.24680723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601652532 meters 0.309237025490793 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.13 [[ 0.99995171 -0.00626371 0.00757313 -1.14970602] [ 0.00631248 0.99995938 -0.00643347 -1.77061906] [-0.00753252 0.00648097 0.99995063 0.12675437] [ 0. 0. 0. 1. ]] SLAMing on 51.631652532 meters 0.2842509882010351 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.77, Z:0.13 [[ 0.9999185 -0.01257174 0.00222393 -1.13862395] [ 0.0125893 0.99988822 -0.00806631 -1.76501161] [-0.00212228 0.00809366 0.99996499 0.13201635] [ 0. 0. 0. 1. ]] SLAMing on 51.661652532 meters 0.2780853201482697 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.77, Z:0.13 [[ 9.99898931e-01 -1.42088118e-02 4.86399474e-04 -1.13456327e+00] [ 1.42125046e-02 9.99861206e-01 -8.69324375e-03 -1.76517042e+00] [-3.62811300e-04 8.69927810e-03 9.99962095e-01 1.32691731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691652532 meters 0.27156035785146715 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 9.99798533e-01 -2.00418783e-02 -1.10318035e-03 -1.13051485e+00] [ 2.00248472e-02 9.99705098e-01 -1.37376266e-02 -1.76454386e+00] [ 1.37818286e-03 1.37127679e-02 9.99905026e-01 1.33055016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721652532 meters 0.2707377078020233 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 9.99793797e-01 -2.02309364e-02 -1.75278101e-03 -1.12890952e+00] [ 2.02048067e-02 9.99700272e-01 -1.38250198e-02 -1.76417786e+00] [ 2.03194875e-03 1.37867544e-02 9.99902894e-01 1.33194814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751652532 meters 0.26696964232527864 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 0.99978692 -0.02049046 -0.00250131 -1.12737357] [ 0.0204538 0.99969426 -0.0138937 -1.76399656] [ 0.00278524 0.01383958 0.99990035 0.13385907] [ 0. 0. 0. 1. ]] SLAMing on 51.781652532 meters 0.26704590689766655 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 0.99985732 -0.01649856 -0.00362341 -1.12528674] [ 0.01646364 0.99981967 -0.00946422 -1.76451088] [ 0.0037789 0.00940322 0.99994865 0.13471796] [ 0. 0. 0. 1. ]] SLAMing on 51.811652532 meters 0.26448544602184576 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99991558 -0.01221335 -0.0044344 -1.12458301] [ 0.01219267 0.9999148 -0.0046613 -1.76584 ] [ 0.00449095 0.00460684 0.9999793 0.13651335] [ 0. 0. 0. 1. ]] SLAMing on 51.841652532 meters 0.26722292630291367 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 9.99943460e-01 -8.92196853e-03 -5.78583187e-03 -1.12182939e+00] [ 8.91625449e-03 9.99959737e-01 -1.01263498e-03 -1.76496486e+00] [ 5.79463361e-03 9.60989777e-04 9.99982749e-01 1.37195150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871652532 meters 0.26417345518546076 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 9.99941417e-01 -9.04154431e-03 -5.95088248e-03 -1.12120918e+00] [ 9.03475555e-03 9.99958505e-01 -1.16669442e-03 -1.76452631e+00] [ 5.96118427e-03 1.11286130e-03 9.99981613e-01 1.36955785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901652532 meters 0.26139988904227796 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.99993657 -0.00960976 -0.00587366 -1.12074148] [ 0.00959761 0.99995175 -0.00209289 -1.76180069] [ 0.00589349 0.00203639 0.99998056 0.13607264] [ 0. 0. 0. 1. ]] SLAMing on 51.931652532 meters 0.2604431753609708 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 9.99939070e-01 -9.36889071e-03 -5.83776066e-03 -1.12093582e+00] [ 9.35924802e-03 9.99954795e-01 -1.67691504e-03 -1.76314091e+00] [ 5.85320760e-03 1.62217582e-03 9.99981554e-01 1.36153528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961652532 meters 0.2595037694639182 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 9.99935659e-01 -9.42518867e-03 -6.31215639e-03 -1.12007982e+00] [ 9.41546251e-03 9.99954443e-01 -1.56881003e-03 -1.76339637e+00] [ 6.32665516e-03 1.50927722e-03 9.99978848e-01 1.36679870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991652531999996 meters 0.2582769476058055 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 9.99935878e-01 -9.16703301e-03 -6.64869298e-03 -1.11967333e+00] [ 9.16053809e-03 9.99957535e-01 -1.00666877e-03 -1.76507570e+00] [ 6.65763881e-03 9.45698617e-04 9.99977390e-01 1.37276548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021652532 meters 0.25946300826766006 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.99995314 -0.00565835 -0.00785546 -1.11712971] [ 0.00568136 0.99997963 0.00290968 -1.7647083 ] [ 0.00783884 -0.00295417 0.99996491 0.13799892] [ 0. 0. 0. 1. ]] SLAMing on 52.051652532 meters 0.26080274579895824 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99995756 -0.0053287 -0.00751602 -1.11798282] [ 0.00535429 0.99997992 0.00338873 -1.76628531] [ 0.00749781 -0.00342883 0.99996601 0.13796265] [ 0. 0. 0. 1. ]] SLAMing on 52.081652532 meters 0.2634779275143842 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99995843 -0.00523827 -0.00746336 -1.1182591 ] [ 0.0052649 0.99997983 0.0035522 -1.76678754] [ 0.0074446 -0.00359134 0.99996584 0.13816386] [ 0. 0. 0. 1. ]] SLAMing on 52.111652532 meters 0.2590381823971479 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99996189 -0.00541006 -0.00685178 -1.1195287 ] [ 0.00543148 0.99998041 0.00311112 -1.76547162] [ 0.00683482 -0.00314821 0.99997169 0.13781342] [ 0. 0. 0. 1. ]] SLAMing on 52.141652532 meters 0.2604640387809587 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.9999639 -0.00549636 -0.00647963 -1.12043082] [ 0.00551504 0.99998068 0.00286812 -1.76472764] [ 0.00646374 -0.00290376 0.99997489 0.13777364] [ 0. 0. 0. 1. ]] SLAMing on 52.171652531999996 meters 0.262027300089903 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99996732 -0.00537366 -0.00604028 -1.12150762] [ 0.00539164 0.99998107 0.0029641 -1.76510446] [ 0.00602423 -0.00299657 0.99997736 0.13769257] [ 0. 0. 0. 1. ]] SLAMing on 52.201652532 meters 0.26844069873186205 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.99996915 -0.00539789 -0.00570574 -1.12226999] [ 0.00541412 0.99998133 0.00283287 -1.76474062] [ 0.00569034 -0.00286368 0.99997971 0.13757868] [ 0. 0. 0. 1. ]] SLAMing on 52.231652532 meters 0.2621970926837938 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.99997277 -0.00531998 -0.00511405 -1.1235219 ] [ 0.00533427 0.99998189 0.00278498 -1.76471543] [ 0.00509915 -0.00281219 0.99998305 0.13723014] [ 0. 0. 0. 1. ]] SLAMing on 52.261652532 meters 0.26094967644821504 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.9999714 -0.00535625 -0.00533862 -1.12288352] [ 0.00537121 0.99998168 0.00279162 -1.7647753 ] [ 0.00532357 -0.00282022 0.99998185 0.13717171] [ 0. 0. 0. 1. ]] SLAMing on 52.291652532 meters 0.26528869054848947 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.14 [[ 0.99997197 -0.00534081 -0.00524753 -1.1230143 ] [ 0.00535563 0.9999817 0.00281392 -1.76493879] [ 0.00523241 -0.00284195 0.99998227 0.13706957] [ 0. 0. 0. 1. ]] SLAMing on 52.321652532 meters 0.268080423034838 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99997359 -0.00511403 -0.00516466 -1.12328965] [ 0.00513049 0.99998179 0.0031786 -1.76613105] [ 0.00514831 -0.00320501 0.99998161 0.13712968] [ 0. 0. 0. 1. ]] SLAMing on 52.351652532 meters 0.2612579526974862 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.77, Z:0.14 [[ 0.99997295 -0.00533914 -0.00505896 -1.12372813] [ 0.00535348 0.99998168 0.0028253 -1.76500952] [ 0.00504379 -0.00285231 0.99998321 0.1374312 ] [ 0. 0. 0. 1. ]] SLAMing on 52.381652532 meters 0.2644729907852194 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.77, Z:0.14 [[ 0.99997746 -0.00506618 -0.00440521 -1.1250257 ] [ 0.00507968 0.99998242 0.00305942 -1.765859 ] [ 0.00438963 -0.00308173 0.99998562 0.13683282] [ 0. 0. 0. 1. ]] SLAMing on 52.411652532 meters 0.264576328970169 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.13 [[ 0.99998371 -0.00391154 -0.00415703 -1.12325575] [ 0.00392534 0.9999868 0.00331626 -1.76143603] [ 0.004144 -0.00333252 0.99998586 0.13391358] [ 0. 0. 0. 1. ]] SLAMing on 52.441652532 meters 0.264576328970169 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.76, Z:0.13 [[ 0.99998371 -0.00391154 -0.00415703 -1.12325575] [ 0.00392534 0.9999868 0.00331626 -1.76143603] [ 0.004144 -0.00333252 0.99998586 0.13391358] [ 0. 0. 0. 1. ]] SLAMing on 52.471652532 meters 0.2655357028891204 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 0.99998743 -0.00394423 -0.00309519 -1.12527835] [ 0.00395291 0.99998826 0.00280184 -1.75991904] [ 0.0030841 -0.00281404 0.99999128 0.1329295 ] [ 0. 0. 0. 1. ]] SLAMing on 52.501652532 meters 0.2659563496810053 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 0.9999891 -0.00383454 -0.00266217 -1.12609702] [ 0.00384217 0.99998851 0.00286517 -1.76026631] [ 0.00265116 -0.00287536 0.99999235 0.13249503] [ 0. 0. 0. 1. ]] SLAMing on 52.531652532 meters 0.26755579098195165 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 0.99999025 -0.00379873 -0.00225041 -1.1269078 ] [ 0.00380501 0.99998886 0.00279325 -1.76015653] [ 0.00223978 -0.00280179 0.99999357 0.13215637] [ 0. 0. 0. 1. ]] SLAMing on 52.561652532 meters 0.2687224321045345 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 9.99992171e-01 -3.60476986e-03 -1.63193529e-03 -1.12844612e+00] [ 3.60955040e-03 9.99989176e-01 2.93596295e-03 -1.76067033e+00] [ 1.62133415e-03 -2.94183051e-03 9.99994358e-01 1.32120003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591652532 meters 0.2878727321571237 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 9.99999193e-01 8.23562108e-04 -9.67850465e-04 -1.12948300e+00] [-8.16681675e-04 9.99974546e-01 7.08800547e-03 -1.76027706e+00] [ 9.73663242e-04 -7.08720932e-03 9.99974411e-01 1.31169863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621652532 meters 0.2806369365180769 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.76, Z:0.13 [[ 9.99998905e-01 1.41866819e-03 4.21612699e-04 -1.13235271e+00] [-1.42166837e-03 9.99973048e-01 7.20296750e-03 -1.76053193e+00] [-4.11382715e-04 -7.20355900e-03 9.99973969e-01 1.30147034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651652532 meters 0.28336285760163193 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99997068e-01 1.74493280e-03 1.67932604e-03 -1.13507522e+00] [-1.75676238e-03 9.99973473e-01 7.06873786e-03 -1.76007581e+00] [-1.66694702e-03 -7.07166731e-03 9.99973606e-01 1.29408263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681652532 meters 0.30171103413676564 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.9999761 0.00622319 0.0030103 -1.13818868] [-0.00625599 0.99991978 0.01101364 -1.75886006] [-0.00294151 -0.01103221 0.99993482 0.12913304] [ 0. 0. 0. 1. ]] SLAMing on 52.711652532 meters 0.30313176082150484 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.99997264 0.00643039 0.00365666 -1.1398122 ] [-0.006471 0.9999163 0.01120316 -1.75954789] [-0.00358431 -0.01122651 0.99993056 0.12911834] [ 0. 0. 0. 1. ]] SLAMing on 52.741652531999996 meters 0.2898149014348719 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.99997284 0.00634264 0.00375324 -1.13974368] [-0.00638362 0.99991902 0.01100934 -1.75901871] [-0.00368311 -0.011033 0.99993235 0.12867789] [ 0. 0. 0. 1. ]] SLAMing on 52.771652532 meters 0.29088297063569596 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.99998483 0.00300089 0.00461983 -1.14171954] [-0.00303671 0.99996523 0.00776664 -1.76177022] [-0.00459636 -0.00778056 0.99995917 0.12831851] [ 0. 0. 0. 1. ]] SLAMing on 52.801652532 meters 0.2906800822975309 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.99998541 0.00301894 0.00447888 -1.14094694] [-0.00305387 0.99996483 0.00781099 -1.76200357] [-0.00445515 -0.00782455 0.99995946 0.12772823] [ 0. 0. 0. 1. ]] SLAMing on 52.831652532 meters 0.29252800430533765 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.9999832 0.00322375 0.00481781 -1.14189897] [-0.00326267 0.99996195 0.0080908 -1.76294571] [-0.00479155 -0.00810639 0.99995566 0.12783324] [ 0. 0. 0. 1. ]] SLAMing on 52.861652532 meters 0.2954129443619245 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 0.99997877 0.00346114 0.00552146 -1.14345407] [-0.0035068 0.99995956 0.00828188 -1.76368601] [-0.00549257 -0.00830107 0.99995046 0.12746825] [ 0. 0. 0. 1. ]] SLAMing on 52.891652532 meters 0.29986794119628907 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.77, Z:0.13 [[ 0.99997501 0.00380065 0.00596147 -1.14427927] [-0.00385264 0.99995444 0.00873388 -1.76524611] [-0.005928 -0.00875663 0.99994409 0.12699188] [ 0. 0. 0. 1. ]] SLAMing on 52.921652531999996 meters 0.29400261536392047 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99982716e-01 -1.05099826e-03 5.78478520e-03 -1.14393716e+00] [ 1.02969879e-03 9.99992685e-01 3.68372933e-03 -1.76327181e+00] [-5.78861448e-03 -3.67770907e-03 9.99976483e-01 1.27315158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951652532 meters 0.288791202997804 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99984238e-01 -1.07404220e-03 5.51096261e-03 -1.14342326e+00] [ 1.05352870e-03 9.99992511e-01 3.72386019e-03 -1.76334684e+00] [-5.51492093e-03 -3.71799554e-03 9.99977881e-01 1.27616717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981652532 meters 0.28942197690745697 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99984655e-01 -8.40898980e-04 5.47563920e-03 -1.14387193e+00] [ 8.18072606e-04 9.99990972e-01 4.16962026e-03 -1.76468039e+00] [-5.47909600e-03 -4.16507681e-03 9.99976316e-01 1.28375178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011652532 meters 0.2900007178510827 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99983046e-01 -8.87073123e-04 5.75514269e-03 -1.14465832e+00] [ 8.63917530e-04 9.99991528e-01 4.02470021e-03 -1.76421647e+00] [-5.75866413e-03 -4.01966000e-03 9.99975340e-01 1.28515957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041652532 meters 0.28843076183416766 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 9.99981461e-01 -9.07798291e-04 6.02116741e-03 -1.14505307e+00] [ 8.84495520e-04 9.99992114e-01 3.87167621e-03 -1.76380932e+00] [-6.02463463e-03 -3.86627874e-03 9.99974378e-01 1.28079994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071652532 meters 0.2897646678033548 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 9.99980391e-01 -8.70618984e-04 6.20161806e-03 -1.14526800e+00] [ 8.46609465e-04 9.99992141e-01 3.87306629e-03 -1.76388967e+00] [-6.20494129e-03 -3.86773999e-03 9.99973269e-01 1.27705257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101652532 meters 0.2854509241418497 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 9.99966163e-01 -5.33315489e-03 6.26340085e-03 -1.14521354e+00] [ 5.33812380e-03 9.99985450e-01 -7.76874779e-04 -1.76289472e+00] [-6.25916652e-03 8.10283301e-04 9.99980083e-01 1.27503574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131652532 meters 0.2870310598642768 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.76, Z:0.13 [[ 9.99966137e-01 -5.42353864e-03 6.18955434e-03 -1.14487069e+00] [ 5.42928794e-03 9.99984845e-01 -9.12447098e-04 -1.76245256e+00] [-6.18451185e-03 9.46021072e-04 9.99980428e-01 1.27257592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161652532 meters 0.2900866752272411 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 9.99965172e-01 -5.15071770e-03 6.56691630e-03 -1.14572637e+00] [ 5.15447005e-03 9.99986562e-01 -5.54606571e-04 -1.76364927e+00] [-6.56397143e-03 5.88436229e-04 9.99978284e-01 1.26995036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191652532 meters 0.29265108544066976 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 9.99978807e-01 -1.16081391e-03 6.40610052e-03 -1.14516007e+00] [ 1.13976769e-03 9.99993945e-01 3.28801425e-03 -1.76205120e+00] [-6.40987850e-03 -3.28064310e-03 9.99974075e-01 1.26750716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221652532 meters 0.3024300930837241 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.13 [[ 0.99995197 0.00618937 0.00759874 -1.14826516] [-0.00626729 0.99992759 0.01027265 -1.76609392] [-0.00753461 -0.01031978 0.99991836 0.12679135] [ 0. 0. 0. 1. ]] SLAMing on 53.251652532 meters 0.30239661260850365 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 0.99994888 0.00604672 0.00810422 -1.14913684] [-0.00612654 0.9999326 0.00986185 -1.76489768] [-0.00804405 -0.009911 0.99991853 0.12620633] [ 0. 0. 0. 1. ]] SLAMing on 53.281652532 meters 0.30479589536884477 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 0.99994085 0.00612444 0.00898861 -1.15086062] [-0.00621052 0.99993483 0.00957983 -1.76425325] [-0.00892935 -0.00963509 0.99991371 0.12544218] [ 0. 0. 0. 1. ]] SLAMing on 53.311652532 meters 0.3069328220970723 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.13 [[ 0.99992599 0.00670709 0.01015064 -1.1535309 ] [-0.00680737 0.99992805 0.00987741 -1.76494257] [-0.01008366 -0.00994577 0.9998997 0.1251152 ] [ 0. 0. 0. 1. ]] SLAMing on 53.341652532 meters 0.3088013189784787 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.12 [[ 0.99991793 0.00701708 0.01071848 -1.15484407] [-0.00712689 0.99992215 0.01024216 -1.7662226 ] [-0.01064578 -0.01031771 0.9998901 0.12493128] [ 0. 0. 0. 1. ]] SLAMing on 53.371652532 meters 0.3152049847521208 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99990345 0.00773583 0.01154298 -1.1567981 ] [-0.00786384 0.99990763 0.01108605 -1.76873113] [-0.01145615 -0.01117576 0.99987192 0.1247087 ] [ 0. 0. 0. 1. ]] SLAMing on 53.401652532 meters 0.3167666660174341 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99988908 0.00806964 0.01251863 -1.15887483] [-0.0082108 0.99990283 0.01126564 -1.76947038] [-0.0124265 -0.01136718 0.99985817 0.12410581] [ 0. 0. 0. 1. ]] SLAMing on 53.431652532 meters 0.3220510089489442 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99982863 0.0124396 0.01371007 -1.16106249] [-0.01264796 0.99980422 0.01521669 -1.76850462] [-0.0135181 -0.01538749 0.99979022 0.12312922] [ 0. 0. 0. 1. ]] SLAMing on 53.461652532 meters 0.32026255073601045 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.12 [[ 0.99981271 0.01272314 0.01458316 -1.16303964] [-0.01294708 0.99979811 0.01536623 -1.76918587] [-0.01438471 -0.01555216 0.99977558 0.12280716] [ 0. 0. 0. 1. ]] SLAMing on 53.491652531999996 meters 0.3267388443518015 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.77, Z:0.12 [[ 0.99978473 0.01369697 0.01558494 -1.16547652] [-0.01395144 0.99976918 0.01633818 -1.77182316] [-0.01535756 -0.0165521 0.99974505 0.12263531] [ 0. 0. 0. 1. ]] SLAMing on 53.521652532 meters 0.33403238213732683 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.77, Z:0.12 [[ 0.99974903 0.01497836 0.0166594 -1.16793033] [-0.01527041 0.99972948 0.01754355 -1.77475951] [-0.01639212 -0.01779355 0.9997073 0.12226302] [ 0. 0. 0. 1. ]] SLAMing on 53.551652532 meters 0.34038622432007254 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.12 [[ 0.99962998 0.02037689 0.01801911 -1.17069614] [-0.02077894 0.99953282 0.0224138 -1.77556958] [-0.01755397 -0.02277993 0.99958638 0.12152534] [ 0. 0. 0. 1. ]] SLAMing on 53.581652532 meters 0.3446553700521916 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.12 [[ 0.99958517 0.02143606 0.01923514 -1.17336063] [-0.02188362 0.99948741 0.02336729 -1.77812827] [-0.01872438 -0.02377853 0.99954188 0.12100785] [ 0. 0. 0. 1. ]] SLAMing on 53.611652532 meters 0.34898041345264913 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.12 [[ 0.99954173 0.02239891 0.02036214 -1.17582775] [-0.02288775 0.99944752 0.02409985 -1.78004944] [-0.01981108 -0.02455484 0.99950217 0.12044392] [ 0. 0. 0. 1. ]] SLAMing on 53.641652532 meters 0.3606901686766945 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.12 [[ 0.99902758 0.03632386 0.02498924 -1.17970678] [-0.03681747 0.99913008 0.01958479 -1.78272229] [-0.02425611 -0.02048578 0.99949586 0.12238035] [ 0. 0. 0. 1. ]] SLAMing on 53.671652531999996 meters 0.37409834487809374 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.79, Z:0.12 [[ 0.99894771 0.03769263 0.02612928 -1.18283836] [-0.03824605 0.99904738 0.02101381 -1.78636802] [-0.02531233 -0.02199104 0.99943768 0.12278645] [ 0. 0. 0. 1. ]] SLAMing on 53.701652532 meters 0.3706149492683448 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.79, Z:0.12 [[ 0.99887192 0.03879014 0.0273899 -1.18604267] [-0.03940374 0.99897608 0.02222935 -1.78980261] [-0.02649957 -0.02328354 0.99937763 0.12292304] [ 0. 0. 0. 1. ]] SLAMing on 53.731652532 meters 0.37354837196964 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.79, Z:0.12 [[ 0.9988103 0.03955208 0.028524 -1.18870645] [-0.04021377 0.99892614 0.02300928 -1.79218781] [-0.0275833 -0.02412897 0.99932825 0.1226781 ] [ 0. 0. 0. 1. ]] SLAMing on 53.761652532 meters 0.3771687564232466 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.80, Z:0.12 [[ 0.999118 0.03877342 0.01611988 -1.18696647] [-0.03922878 0.99881041 0.02896336 -1.79672539] [-0.01497769 -0.02957018 0.99945049 0.11784044] [ 0. 0. 0. 1. ]] SLAMing on 53.791652532 meters 0.3845939663123717 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.80, Z:0.12 [[ 0.99921741 0.03574293 0.01694131 -1.18928901] [-0.0361751 0.99900902 0.0259294 -1.8000829 ] [-0.01599773 -0.02652196 0.99952021 0.11764127] [ 0. 0. 0. 1. ]] SLAMing on 53.821652532 meters 0.3772774116389134 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.80, Z:0.12 [[ 0.99932776 0.03203765 0.01782193 -1.19181156] [-0.03242998 0.9992279 0.02217873 -1.8019604 ] [-0.01709761 -0.02274179 0.99959516 0.1175778 ] [ 0. 0. 0. 1. ]] SLAMing on 53.851652532 meters 0.37184160952113193 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.81, Z:0.12 [[ 0.99953363 0.02445187 0.01829299 -1.19367939] [-0.02472468 0.99958417 0.01483847 -1.80542639] [-0.01792255 -0.01528383 0.99972255 0.11803268] [ 0. 0. 0. 1. ]] SLAMing on 53.881652532 meters 0.3659336061876697 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.12 [[ 0.99967685 0.01717092 0.01874425 -1.19561635] [-0.01732389 0.99981769 0.00802916 -1.81029891] [-0.01860296 -0.00835129 0.99979207 0.11889334] [ 0. 0. 0. 1. ]] SLAMing on 53.911652532 meters 0.3613730402305191 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.81, Z:0.12 [[ 0.99974905 0.01325943 0.01805633 -1.19497387] [-0.01334495 0.99990026 0.00462408 -1.81314038] [-0.01799322 -0.00486388 0.99982628 0.12024011] [ 0. 0. 0. 1. ]] SLAMing on 53.941652532 meters 0.3507023658676251 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.82, Z:0.12 [[ 0.99986103 0.0046061 0.01602227 -1.19191388] [-0.00456795 0.99998665 -0.00241694 -1.81753676] [-0.01603319 0.00234341 0.99986871 0.12302775] [ 0. 0. 0. 1. ]] SLAMing on 53.971652532 meters 0.3443177334053994 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.82, Z:0.12 [[ 9.99886591e-01 4.21855091e-04 1.50541396e-02 -1.19033930e+00] [-3.30589929e-04 9.99981556e-01 -6.06443649e-03 -1.81957948e+00] [-1.50564202e-02 6.05877198e-03 9.99868289e-01 1.24269847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001652532 meters 0.33820118181990083 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.82, Z:0.12 [[ 0.9998913 -0.00389719 0.01421996 -1.18863546] [ 0.00403983 0.99994168 -0.01001588 -1.82074506] [-0.01418009 0.01007224 0.99984873 0.12493353] [ 0. 0. 0. 1. ]] SLAMing on 54.031652532 meters 0.3323660427083265 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.82, Z:0.13 [[ 0.99987474 -0.00839023 0.01342081 -1.18680266] [ 0.00858091 0.99986215 -0.01421416 -1.82120443] [-0.0132997 0.01432754 0.9998089 0.12543559] [ 0. 0. 0. 1. ]] SLAMing on 54.061652532 meters 0.3224312919591178 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.81, Z:0.13 [[ 0.9997782 -0.01961384 0.00767065 -1.17392243] [ 0.01977038 0.99958621 -0.02089359 -1.81417334] [-0.00725767 0.02104061 0.99975228 0.12990879] [ 0. 0. 0. 1. ]] SLAMing on 54.091652532 meters 0.314440140005577 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.81, Z:0.13 [[ 0.99968045 -0.02434258 0.00681505 -1.17172841] [ 0.0245078 0.99937913 -0.02531259 -1.81413854] [-0.00619465 0.02547152 0.99965635 0.1304535 ] [ 0. 0. 0. 1. ]] SLAMing on 54.121652532 meters 0.30817766579275696 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.82, Z:0.13 [[ 0.99957006 -0.02867593 0.00611412 -1.17002634] [ 0.02884278 0.99915694 -0.02921473 -1.81547288] [-0.00527121 0.02937852 0.99955446 0.13103633] [ 0. 0. 0. 1. ]] SLAMing on 54.151652532 meters 0.2962995398360761 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.81, Z:0.14 [[ 9.99220080e-01 -3.94858124e-02 3.20021885e-04 -1.15782366e+00] [ 3.94728599e-02 9.98608991e-01 -3.49567750e-02 -1.80954717e+00] [ 1.06071993e-03 3.49421437e-02 9.99388774e-01 1.36994113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181652532 meters 0.2935287813442512 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.81, Z:0.14 [[ 9.99183044e-01 -4.04027617e-02 -9.28282237e-04 -1.15505677e+00] [ 4.03449062e-02 9.98562807e-01 -3.52790241e-02 -1.80949040e+00] [ 2.35231812e-03 3.52127513e-02 9.99377070e-01 1.37813337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211652532 meters 0.2845760664671211 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.81, Z:0.14 [[ 0.99914503 -0.04127499 -0.00236445 -1.15176477] [ 0.0411656 0.99852497 -0.03540165 -1.80994328] [ 0.00382217 0.03527405 0.99937037 0.1385678 ] [ 0. 0. 0. 1. ]] SLAMing on 54.241652531999996 meters 0.27791925843400966 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.14 [[ 0.99894607 -0.04539836 -0.00676365 -1.14301413] [ 0.04512259 0.99831471 -0.03649244 -1.8078895 ] [ 0.00840895 0.03614879 0.99931104 0.14269741] [ 0. 0. 0. 1. ]] SLAMing on 54.271652532 meters 0.27694164348948586 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.14 [[ 0.9989485 -0.04524998 -0.00737132 -1.14234058] [ 0.04495709 0.9983413 -0.03596537 -1.80938773] [ 0.00898652 0.03559615 0.99932585 0.14396072] [ 0. 0. 0. 1. ]] SLAMing on 54.301652532 meters 0.2783036567124961 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.15 [[ 0.99893997 -0.04531737 -0.00807852 -1.14123157] [ 0.0450014 0.99834716 -0.03574651 -1.80997815] [ 0.00968511 0.03534507 0.99932824 0.14506289] [ 0. 0. 0. 1. ]] SLAMing on 54.331652532 meters 0.2711293567792873 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.15 [[ 0.99893699 -0.04526815 -0.00870023 -1.14014573] [ 0.04493344 0.99836131 -0.03543551 -1.81086912] [ 0.01029007 0.03500691 0.99933409 0.14577102] [ 0. 0. 0. 1. ]] SLAMing on 54.361652532 meters 0.27864371339662136 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.15 [[ 0.99892521 -0.04543491 -0.00917064 -1.13913494] [ 0.04508185 0.99834874 -0.03560084 -1.81033646] [ 0.01077302 0.03514915 0.99932401 0.14607075] [ 0. 0. 0. 1. ]] SLAMing on 54.391652532 meters 0.27864371339662136 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.15 [[ 0.99892521 -0.04543491 -0.00917064 -1.13913494] [ 0.04508185 0.99834874 -0.03560084 -1.81033646] [ 0.01077302 0.03514915 0.99932401 0.14607075] [ 0. 0. 0. 1. ]] SLAMing on 54.421652531999996 meters 0.2712951096359259 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.81, Z:0.15 [[ 0.99909051 -0.04132895 -0.01049101 -1.13642356] [ 0.04098523 0.99867563 -0.03109964 -1.81125881] [ 0.01176243 0.03064138 0.99946123 0.14631299] [ 0. 0. 0. 1. ]] SLAMing on 54.451652532 meters 0.27705695080641296 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.81, Z:0.15 [[ 0.99907769 -0.04145196 -0.01120248 -1.13499689] [ 0.04108645 0.99867162 -0.03109511 -1.81129697] [ 0.01247656 0.03060616 0.99945365 0.14689438] [ 0. 0. 0. 1. ]] SLAMing on 54.481652532 meters 0.27188507164574993 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.81, Z:0.15 [[ 0.99915422 -0.03894346 -0.01320025 -1.13118742] [ 0.03856138 0.99886222 -0.02805852 -1.81008386] [ 0.01427792 0.02752576 0.99951912 0.14786277] [ 0. 0. 0. 1. ]] SLAMing on 54.511652532 meters 0.2691135288257961 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.81, Z:0.15 [[ 0.99924043 -0.0361879 -0.01445699 -1.12820561] [ 0.03581352 0.99903652 -0.02536584 -1.80742335] [ 0.015361 0.02482882 0.99957369 0.14746824] [ 0. 0. 0. 1. ]] SLAMing on 54.541652532 meters 0.2686462991495782 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.81, Z:0.15 [[ 0.9993393 -0.03283742 -0.01557749 -1.12537569] [ 0.03248986 0.99922851 -0.0220635 -1.8056875 ] [ 0.01628998 0.02154281 0.99963521 0.14689183] [ 0. 0. 0. 1. ]] SLAMing on 54.571652532 meters 0.26854212625131385 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99945676 -0.02870468 -0.0161931 -1.12399384] [ 0.0284115 0.99943326 -0.01805371 -1.80482483] [ 0.01670215 0.01758383 0.99970588 0.14673605] [ 0. 0. 0. 1. ]] SLAMing on 54.601652532 meters 0.2715723338446073 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 0.99956903 -0.02425844 -0.01653137 -1.12354741] [ 0.02403512 0.99961892 -0.01357649 -1.80524698] [ 0.01685442 0.01317331 0.99977117 0.14691221] [ 0. 0. 0. 1. ]] SLAMing on 54.631652532 meters 0.2751403223979273 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99966126 -0.01996167 -0.01670041 -1.12356427] [ 0.01980694 0.99975982 -0.00937988 -1.80472697] [ 0.01688364 0.00904592 0.99981654 0.14722106] [ 0. 0. 0. 1. ]] SLAMing on 54.661652532 meters 0.28030012258934 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99974563 -0.01578225 -0.01611208 -1.12459694] [ 0.01569273 0.9998608 -0.00566789 -1.80293699] [ 0.01619929 0.00541361 0.99985413 0.14628512] [ 0. 0. 0. 1. ]] SLAMing on 54.691652532 meters 0.2829204359006358 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99797897e-01 -1.17878227e-02 -1.62853555e-02 -1.12390539e+00] [ 1.17572311e-02 9.99928935e-01 -1.97294219e-03 -1.80104006e+00] [ 1.63074548e-02 1.78107276e-03 9.99865438e-01 1.45773135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721652532 meters 0.2867256065353052 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99807228e-01 -1.16697642e-02 -1.57899486e-02 -1.12492245e+00] [ 1.16414110e-02 9.99930457e-01 -1.88637407e-03 -1.80144514e+00] [ 1.58108641e-02 1.70219315e-03 9.99873552e-01 1.45366349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751652532 meters 0.28771912921438486 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.80, Z:0.15 [[ 9.99812216e-01 -1.14621797e-02 -1.56253402e-02 -1.12541862e+00] [ 1.14391512e-02 9.99933350e-01 -1.56237532e-03 -1.80250799e+00] [ 1.56422070e-02 1.38334131e-03 9.99876696e-01 1.45430766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781652532 meters 0.2903586957902093 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99807740e-01 -1.14304577e-02 -1.59319769e-02 -1.12440568e+00] [ 1.14094154e-02 9.99933915e-01 -1.41102718e-03 -1.80310767e+00] [ 1.59470527e-02 1.22898135e-03 9.99872082e-01 1.45108927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811652532 meters 0.28277502983526787 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.14 [[ 9.99814512e-01 -1.11704267e-02 -1.56895822e-02 -1.12481093e+00] [ 1.11556731e-02 9.99937246e-01 -1.02755644e-03 -1.80443069e+00] [ 1.57000759e-02 8.52337987e-04 9.99876383e-01 1.44715621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841652532 meters 0.29651599861624955 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.14 [[ 0.99983184 -0.00768828 -0.01664878 -1.12223862] [ 0.00773126 0.99996694 0.00251876 -1.80287054] [ 0.01662886 -0.00264706 0.99985823 0.1446137 ] [ 0. 0. 0. 1. ]] SLAMing on 54.871652532 meters 0.27739262448458757 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99774445e-01 -1.21025113e-02 -1.74524729e-02 -1.12108115e+00] [ 1.20831165e-02 9.99926257e-01 -1.21631852e-03 -1.80457074e+00] [ 1.74659064e-02 1.00516391e-03 9.99846954e-01 1.46141972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901652532 meters 0.27849415468178734 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 9.99769155e-01 -1.19047936e-02 -1.78860734e-02 -1.12018797e+00] [ 1.18942125e-02 9.99929018e-01 -6.97853749e-04 -1.80618455e+00] [ 1.78931117e-02 4.84951895e-04 9.99839788e-01 1.46425421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931652532 meters 0.2731248845283251 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 9.99759040e-01 -1.21009878e-02 -1.83147193e-02 -1.11901663e+00] [ 1.20866653e-02 9.99926555e-01 -8.92512625e-04 -1.80566555e+00] [ 1.83241745e-02 6.70933683e-04 9.99831873e-01 1.46375677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961652532 meters 0.2720739813604418 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 9.99746898e-01 -1.22807486e-02 -1.88500206e-02 -1.11767752e+00] [ 1.22651797e-02 9.99924337e-01 -9.41329129e-04 -1.80565667e+00] [ 1.88601546e-02 7.09891986e-04 9.99821879e-01 1.46469672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991652531999996 meters 0.2683851468998726 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 9.99731299e-01 -1.21585682e-02 -1.97357396e-02 -1.11662131e+00] [ 1.21577292e-02 9.99926079e-01 -1.62501594e-04 -1.80784955e+00] [ 1.97362565e-02 -7.74838475e-05 9.99805218e-01 1.48244750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021652532 meters 0.2696913258087957 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99989772 -0.01334318 -0.00514897 -1.12058636] [ 0.0133299 0.99990776 -0.00260482 -1.80321886] [ 0.00518325 0.00253592 0.99998335 0.14816329] [ 0. 0. 0. 1. ]] SLAMing on 55.051652532 meters 0.26634816198127853 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99989919 -0.01323861 -0.00513319 -1.12086743] [ 0.01322647 0.99990966 -0.00239242 -1.80383776] [ 0.0051644 0.00232428 0.99998396 0.14849641] [ 0. 0. 0. 1. ]] SLAMing on 55.081652532 meters 0.268582302507058 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99989908 -0.01324214 -0.00514495 -1.12079334] [ 0.01322995 0.99990961 -0.00239657 -1.80382206] [ 0.00517622 0.00232826 0.99998389 0.14840056] [ 0. 0. 0. 1. ]] SLAMing on 55.111652532 meters 0.26862567898309087 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99934280e-01 -1.00819452e-02 -5.45796546e-03 -1.11959882e+00] [ 1.00832956e-02 9.99949138e-01 2.19948848e-04 -1.79977504e+00] [ 5.45547035e-03 -2.74968672e-04 9.99985081e-01 1.47434738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141652532 meters 0.26967875484127174 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99996386 -0.00615787 -0.005861 -1.11870116] [ 0.00618163 0.99997271 0.00404517 -1.79842697] [ 0.00583593 -0.00408126 0.99997464 0.14761599] [ 0. 0. 0. 1. ]] SLAMing on 55.171652531999996 meters 0.26979219808400123 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99996993 -0.00568409 -0.00527541 -1.12093179] [ 0.00570893 0.99997264 0.00470398 -1.80016449] [ 0.00524853 -0.00473396 0.99997502 0.14874207] [ 0. 0. 0. 1. ]] SLAMing on 55.201652532 meters 0.2699449049092358 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99997127 -0.00571162 -0.00498448 -1.12146992] [ 0.00573449 0.99997304 0.00458639 -1.79990443] [ 0.00495815 -0.00461484 0.99997706 0.14848256] [ 0. 0. 0. 1. ]] SLAMing on 55.231652532 meters 0.2733908883814706 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99997554 -0.00546342 -0.00436615 -1.12266281] [ 0.00548437 0.99997344 0.00480033 -1.80073284] [ 0.00433981 -0.00482416 0.99997895 0.14787235] [ 0. 0. 0. 1. ]] SLAMing on 55.261652532 meters 0.2761993179455809 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99997536 -0.00551821 -0.00433848 -1.1226027 ] [ 0.00553863 0.99997357 0.00470906 -1.80050703] [ 0.00431238 -0.00473297 0.9999795 0.14772538] [ 0. 0. 0. 1. ]] SLAMing on 55.291652532 meters 0.2740627504931511 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99997398 -0.00565045 -0.00448396 -1.12206607] [ 0.00567069 0.99997374 0.0045122 -1.79991424] [ 0.00445835 -0.00453751 0.99997977 0.14754502] [ 0. 0. 0. 1. ]] SLAMing on 55.321652532 meters 0.27101006445731485 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 0.99997456 -0.00526656 -0.00481007 -1.12163222] [ 0.00529216 0.99997182 0.00532541 -1.80243624] [ 0.00478189 -0.00535073 0.99997425 0.1481077 ] [ 0. 0. 0. 1. ]] SLAMing on 55.351652532 meters 0.2828710237987882 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.80, Z:0.15 [[ 9.99926660e-01 -1.04409078e-02 -6.13688047e-03 -1.11898901e+00] [ 1.04460277e-02 9.99945116e-01 8.02833676e-04 -1.80223889e+00] [ 6.12816134e-03 -8.66880820e-04 9.99980847e-01 1.49533643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381652532 meters 0.26911388763405303 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.81, Z:0.15 [[ 9.99859817e-01 -1.46588069e-02 -8.09107301e-03 -1.11544562e+00] [ 1.46465407e-02 9.99891496e-01 -1.57319602e-03 -1.80791041e+00] [ 8.11325627e-03 1.45446925e-03 9.99966029e-01 1.51990241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411652532 meters 0.2570200140094509 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.81, Z:0.15 [[ 9.99877622e-01 -1.24481869e-02 -9.47542571e-03 -1.11129349e+00] [ 1.24640022e-02 9.99921022e-01 1.61186900e-03 -1.80913357e+00] [ 9.45461251e-03 -1.72977347e-03 9.99953808e-01 1.51571594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441652532 meters 0.25914052053805237 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.81, Z:0.15 [[ 9.99841140e-01 -1.40840882e-02 -1.09239447e-02 -1.10839479e+00] [ 1.40917884e-02 9.99900508e-01 6.28234918e-04 -1.80808956e+00] [ 1.09140098e-02 -7.82073034e-04 9.99940135e-01 1.52650329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471652532 meters 0.24855136710358242 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.81, Z:0.15 [[ 0.99976239 -0.01848865 -0.01154664 -1.10700264] [ 0.01845074 0.99982405 -0.00338073 -1.80904339] [ 0.01160711 0.00316688 0.99992762 0.15325218] [ 0. 0. 0. 1. ]] SLAMing on 55.501652532 meters 0.25270563097750287 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.81, Z:0.15 [[ 0.99974636 -0.01867212 -0.01259201 -1.10472236] [ 0.01863303 0.99982122 -0.00321479 -1.80968224] [ 0.01264979 0.00297934 0.99991555 0.15385988] [ 0. 0. 0. 1. ]] SLAMing on 55.531652532 meters 0.2747897466109361 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.81, Z:0.15 [[ 0.99972877 -0.01882196 -0.01371597 -1.10237478] [ 0.01878385 0.99981936 -0.00290197 -1.810807 ] [ 0.01376812 0.00264354 0.99990172 0.15462894] [ 0. 0. 0. 1. ]] SLAMing on 55.561652532 meters 0.24666751862850417 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.81, Z:0.16 [[ 0.99968153 -0.01994559 -0.01546006 -1.09832324] [ 0.01990157 0.99979745 -0.00299642 -1.81199686] [ 0.01551669 0.00268778 0.999876 0.15534634] [ 0. 0. 0. 1. ]] SLAMing on 55.591652532 meters 0.26335639228412533 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.81, Z:0.17 [[ 0.99964538 -0.01981257 -0.01779286 -1.08957944] [ 0.01956051 0.9997074 -0.0142304 -1.80668681] [ 0.01806959 0.01387732 0.99974042 0.16567954] [ 0. 0. 0. 1. ]] SLAMing on 55.621652532 meters 0.24553519797279016 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.81, Z:0.17 [[ 0.99962655 -0.01977282 -0.01886237 -1.0877461 ] [ 0.01952065 0.99971884 -0.01346058 -1.80891706] [ 0.01912322 0.01308734 0.99973148 0.16706778] [ 0. 0. 0. 1. ]] SLAMing on 55.651652532 meters 0.26080136557252204 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.81, Z:0.17 [[ 0.99952068 -0.02391814 -0.01965558 -1.08658298] [ 0.02359231 0.99958309 -0.01664496 -1.81211283] [ 0.0200455 0.01617326 0.99966825 0.16869117] [ 0. 0. 0. 1. ]] SLAMing on 55.681652532 meters 0.26363857219756565 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.81, Z:0.17 [[ 0.999516 -0.02374805 -0.02009484 -1.0859103 ] [ 0.02342481 0.9995948 -0.01617152 -1.81344658] [ 0.02047074 0.01569297 0.99966728 0.1693056 ] [ 0. 0. 0. 1. ]] SLAMing on 55.711652532 meters 0.23586262576988878 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.81, Z:0.17 [[ 0.9995082 -0.02368223 -0.02055493 -1.0851479 ] [ 0.02335807 0.9996012 -0.01586965 -1.81427283] [ 0.02092256 0.01538172 0.99966277 0.16991867] [ 0. 0. 0. 1. ]] SLAMing on 55.741652531999996 meters 0.24426771423386306 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99949243 -0.0236841 -0.02130607 -1.08393645] [ 0.02335623 0.99960692 -0.01550793 -1.81527674] [ 0.02166498 0.01500243 0.99965272 0.1709959 ] [ 0. 0. 0. 1. ]] SLAMing on 55.771652532 meters 0.2421301467165697 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99944125 -0.02442954 -0.02281205 -1.08087737] [ 0.02407494 0.99958699 -0.01569207 -1.81552092] [ 0.02318598 0.0151341 0.99961661 0.17207537] [ 0. 0. 0. 1. ]] SLAMing on 55.801652532 meters 0.24811237752212278 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99942938 -0.02450302 -0.02324891 -1.07974161] [ 0.02414177 0.99958535 -0.01569384 -1.81556904] [ 0.02362381 0.01512361 0.99960652 0.17206072] [ 0. 0. 0. 1. ]] SLAMing on 55.831652532 meters 0.23486860221951225 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99931151 -0.02874821 -0.02345301 -1.07929932] [ 0.02829175 0.99940816 -0.01956781 -1.81689203] [ 0.02400167 0.01889081 0.99953342 0.17256659] [ 0. 0. 0. 1. ]] SLAMing on 55.861652532 meters 0.22796932392453637 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99929921 -0.02871123 -0.02401587 -1.07828936] [ 0.02824941 0.99941355 -0.01935278 -1.81745411] [ 0.02455743 0.01866078 0.99952424 0.17318147] [ 0. 0. 0. 1. ]] SLAMing on 55.891652532 meters 0.23081640821500332 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.9994241 -0.02393142 -0.02405731 -1.07903559] [ 0.02358965 0.99961813 -0.01439143 -1.81921842] [ 0.02439253 0.01381564 0.99960699 0.17385952] [ 0. 0. 0. 1. ]] SLAMing on 55.921652531999996 meters 0.22570108470585631 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.82, Z:0.17 [[ 0.99940696 -0.02403558 -0.02465811 -1.07793118] [ 0.02368819 0.99961733 -0.01428487 -1.81945092] [ 0.02499202 0.01369229 0.99959388 0.17451775] [ 0. 0. 0. 1. ]] SLAMing on 55.951652532 meters 0.2289087215052818 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.17 [[ 0.99932245 -0.02592774 -0.02612256 -1.07440852] [ 0.02552429 0.99955152 -0.01566118 -1.81811246] [ 0.02651691 0.01498381 0.99953606 0.17475174] [ 0. 0. 0. 1. ]] SLAMing on 55.981652532 meters 0.23719205628703507 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.17 [[ 0.99914519 -0.03125833 -0.02705197 -1.07157386] [ 0.03070248 0.99931369 -0.02072473 -1.81676848] [ 0.02768122 0.01987645 0.99941917 0.174532 ] [ 0. 0. 0. 1. ]] SLAMing on 56.011652532 meters 0.23408603301501255 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.17 [[ 0.99911923 -0.03147258 -0.02775339 -1.06987571] [ 0.03089869 0.99930461 -0.02087043 -1.81643781] [ 0.02839093 0.01999451 0.99939691 0.17467214] [ 0. 0. 0. 1. ]] SLAMing on 56.041652532 meters 0.22811373494310866 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.17 [[ 0.99910912 -0.03152306 -0.02805838 -1.06907536] [ 0.03094304 0.99930322 -0.02087123 -1.81645168] [ 0.02869675 0.01998442 0.99938837 0.1746383 ] [ 0. 0. 0. 1. ]] SLAMing on 56.071652532 meters 0.23842330817672672 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.18 [[ 0.99927752 -0.02606067 -0.02766354 -1.07163713] [ 0.02564515 0.99955447 -0.01527035 -1.81911791] [ 0.02804917 0.01454988 0.99950065 0.17596403] [ 0. 0. 0. 1. ]] SLAMing on 56.101652532 meters 0.2236473910125693 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.82, Z:0.18 [[ 0.99928678 -0.02554 -0.02781445 -1.07206264] [ 0.02514844 0.99958091 -0.01433765 -1.82176497] [ 0.02816898 0.01362793 0.99951027 0.17702989] [ 0. 0. 0. 1. ]] SLAMing on 56.131652532 meters 0.2266620808326458 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99918067 -0.02934248 -0.02787479 -1.0726558 ] [ 0.02886187 0.99943037 -0.01749054 -1.82502804] [ 0.02837213 0.01667169 0.99945839 0.1784568 ] [ 0. 0. 0. 1. ]] SLAMing on 56.161652532 meters 0.22359814918098658 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99911538 -0.03012017 -0.02934664 -1.06933781] [ 0.02961889 0.99941034 -0.0173691 -1.82672138] [ 0.02985249 0.01648452 0.99941838 0.17932392] [ 0. 0. 0. 1. ]] SLAMing on 56.191652532 meters 0.21686404134462076 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99896097 -0.03429745 -0.03001095 -1.06778014] [ 0.03367707 0.9992134 -0.02093893 -1.82901785] [ 0.03070549 0.01990649 0.99933023 0.17997975] [ 0. 0. 0. 1. ]] SLAMing on 56.221652532 meters 0.23545663524548588 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99908485 -0.02982073 -0.03066242 -1.06647862] [ 0.02932673 0.99943473 -0.01643649 -1.8296315 ] [ 0.03113523 0.01552222 0.99939465 0.18000049] [ 0. 0. 0. 1. ]] SLAMing on 56.251652532 meters 0.23691136365033302 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99911903 -0.02928828 -0.0300559 -1.06837611] [ 0.02882419 0.99946025 -0.01575981 -1.83135974] [ 0.03050125 0.01487959 0.99942397 0.18037121] [ 0. 0. 0. 1. ]] SLAMing on 56.281652532 meters 0.23691136365033302 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99911903 -0.02928828 -0.0300559 -1.06837611] [ 0.02882419 0.99946025 -0.01575981 -1.83135974] [ 0.03050125 0.01487959 0.99942397 0.18037121] [ 0. 0. 0. 1. ]] SLAMing on 56.311652532 meters 0.22266885773554254 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.83, Z:0.18 [[ 0.99923844 -0.02489471 -0.03004666 -1.06872875] [ 0.0245563 0.99963138 -0.01157977 -1.83081689] [ 0.03032385 0.01083312 0.99948142 0.18037533] [ 0. 0. 0. 1. ]] SLAMing on 56.341652532 meters 0.21845823998793507 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.83, Z:0.18 [[ 0.99969559 -0.02001265 -0.01442973 -1.07633849] [ 0.0199041 0.9997728 -0.00762696 -1.82735241] [ 0.01457908 0.00733743 0.9998668 0.177479 ] [ 0. 0. 0. 1. ]] SLAMing on 56.371652532 meters 0.2348685425160534 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.83, Z:0.18 [[ 0.99977256 -0.01579518 -0.01432959 -1.07648984] [ 0.01574443 0.9998694 -0.0036476 -1.82634464] [ 0.01438533 0.00342116 0.99989067 0.17706548] [ 0. 0. 0. 1. ]] SLAMing on 56.401652532 meters 0.22920994056518051 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.83, Z:0.18 [[ 9.99834712e-01 -1.15596287e-02 -1.40329752e-02 -1.07695334e+00] [ 1.15647349e-02 9.99933086e-01 2.82772624e-04 -1.82526209e+00] [ 1.40287675e-02 -4.45013523e-04 9.99901493e-01 1.76426615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431652532 meters 0.2314687854039303 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.83, Z:0.17 [[ 9.99965975e-01 2.22542478e-04 -8.24622166e-03 -1.09189502e+00] [-1.74290396e-04 9.99982864e-01 5.85167374e-03 -1.83054007e+00] [ 8.24738259e-03 -5.85003740e-03 9.99948878e-01 1.72046961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461652532 meters 0.25536444836521904 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.84, Z:0.17 [[ 0.99997297 0.00661817 -0.00320256 -1.10442494] [-0.0065944 0.99995107 0.00737435 -1.83693012] [ 0.00325121 -0.00735304 0.99996768 0.16835609] [ 0. 0. 0. 1. ]] SLAMing on 56.491652531999996 meters 0.25409974254510925 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.84, Z:0.17 [[ 0.99997576 0.00661681 -0.0021675 -1.10638981] [-0.00660194 0.99995511 0.00679649 -1.8354199 ] [ 0.00221237 -0.00678201 0.99997455 0.16729372] [ 0. 0. 0. 1. ]] SLAMing on 56.521652532 meters 0.25263274612931325 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.83, Z:0.17 [[ 9.99932604e-01 1.15736555e-02 -9.15766585e-04 -1.10981422e+00] [-1.15627311e-02 9.99870986e-01 1.11496738e-02 -1.83496049e+00] [ 1.04469092e-03 -1.11383336e-02 9.99937421e-01 1.67492647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551652532 meters 0.26157973249059485 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.84, Z:0.17 [[ 0.99958842 0.02821461 0.00518969 -1.12699651] [-0.02832041 0.99936576 0.02158758 -1.8408258 ] [-0.00457731 -0.02172567 0.99975349 0.16550085] [ 0. 0. 0. 1. ]] SLAMing on 56.581652532 meters 0.2732999737764316 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.85, Z:0.16 [[ 0.9992453 0.03729955 0.01084315 -1.14218386] [-0.03756164 0.9989799 0.02506563 -1.84889491] [-0.00989715 -0.025454 0.999627 0.16282556] [ 0. 0. 0. 1. ]] SLAMing on 56.611652532 meters 0.2775571183313145 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.86, Z:0.16 [[ 0.99885905 0.04479132 0.01656318 -1.15675507] [-0.04522486 0.99861731 0.02679904 -1.85543035] [-0.01533991 -0.02751753 0.99950361 0.15941829] [ 0. 0. 0. 1. ]] SLAMing on 56.641652532 meters 0.275852063080807 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.86, Z:0.16 [[ 0.99832036 0.0534057 0.02245625 -1.17243338] [-0.05405755 0.99810202 0.02949804 -1.86351417] [-0.02083827 -0.03066242 0.99931255 0.15657378] [ 0. 0. 0. 1. ]] SLAMing on 56.671652531999996 meters 0.2957687936000489 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.87, Z:0.15 [[ 0.99693257 0.07208725 0.03047748 -1.19303751] [-0.0732961 0.99648328 0.04060487 -1.87225629] [-0.0274432 -0.04271419 0.99871035 0.15353652] [ 0. 0. 0. 1. ]] SLAMing on 56.701652532 meters 0.30623040225000625 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.88, Z:0.15 [[ 0.99599397 0.08166909 0.03641663 -1.20905591] [-0.08326383 0.99552606 0.04466534 -1.88353838] [-0.03260592 -0.04751859 0.99833804 0.15167833] [ 0. 0. 0. 1. ]] SLAMing on 56.731652532 meters 0.32525751905292316 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.90, Z:0.15 [[ 0.99383373 0.10095011 0.04586498 -1.23320156] [-0.10340121 0.99313754 0.05464453 -1.90279404] [-0.04003386 -0.05905007 0.99745194 0.14817843] [ 0. 0. 0. 1. ]] SLAMing on 56.761652532 meters 0.3325371360626764 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.92, Z:0.15 [[ 0.99305682 0.10597183 0.05106971 -1.24866846] [-0.10872963 0.99256861 0.05463894 -1.91503659] [-0.0449 -0.05981236 0.99719931 0.1476006 ] [ 0. 0. 0. 1. ]] SLAMing on 56.791652532 meters 0.3417539762904435 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.93, Z:0.15 [[ 0.99209671 0.11213588 0.05629969 -1.26460037] [-0.11527085 0.99175906 0.05591603 -1.92924774] [-0.04956553 -0.06196382 0.9968469 0.14759228] [ 0. 0. 0. 1. ]] SLAMing on 56.821652532 meters 0.350936628462213 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.95, Z:0.15 [[ 0.99097184 0.1192348 0.06130156 -1.28053155] [-0.12281058 0.99071614 0.05830178 -1.94571341] [-0.05378084 -0.0653039 0.99641508 0.14826332] [ 0. 0. 0. 1. ]] SLAMing on 56.851652532 meters 0.35730625201330046 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.96, Z:0.15 [[ 0.98986439 0.12569679 0.06609688 -1.29623751] [-0.12969573 0.98972788 0.06014767 -1.9614217 ] [-0.05785756 -0.06811052 0.99599872 0.14918788] [ 0. 0. 0. 1. ]] SLAMing on 56.881652532 meters 0.3796398374949278 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.99, Z:0.15 [[ 0.98814258 0.13973615 0.06362423 -1.32145043] [-0.1438847 0.98738474 0.06609513 -1.99447611] [-0.05358571 -0.07446597 0.9957828 0.14867663] [ 0. 0. 0. 1. ]] SLAMing on 56.911652532 meters 0.37665859746208946 Centerline is valid? [False, False] Translation: X:-1.35, Y:-2.03, Z:0.15 [[ 0.98765925 0.14428878 0.06090945 -1.34755627] [-0.14835724 0.9865521 0.06859359 -2.0312864 ] [-0.05019306 -0.07678345 0.99578359 0.15199994] [ 0. 0. 0. 1. ]] SLAMing on 56.941652532 meters 0.3838399956996187 Centerline is valid? [False, False] Translation: X:-1.36, Y:-2.05, Z:0.15 [[ 0.98721999 0.14558616 0.06481792 -1.36224193] [-0.14981438 0.98650913 0.0659953 -2.04641817] [-0.05433546 -0.07486253 0.99571244 0.15311228] [ 0. 0. 0. 1. ]] SLAMing on 56.971652532 meters 0.3879663779694245 Centerline is valid? [False, False] Translation: X:-1.38, Y:-2.08, Z:0.16 [[ 0.98735975 0.14686795 0.05958636 -1.38270444] [-0.15078819 0.98624469 0.0677077 -2.0796742 ] [-0.04882264 -0.07583678 0.99592426 0.15716153] [ 0. 0. 0. 1. ]] SLAMing on 57.001652532 meters 0.3819857420907689 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.09, Z:0.16 [[ 0.9877605 0.1436768 0.06071392 -1.39006807] [-0.14755425 0.9869094 0.06509665 -2.09312034] [-0.05056626 -0.0732585 0.99603024 0.16048335] [ 0. 0. 0. 1. ]] SLAMing on 57.031652532 meters 0.37858478787531297 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.10, Z:0.16 [[ 0.98809401 0.14114699 0.06121895 -1.39404256] [-0.14498278 0.98739262 0.06352801 -2.10074829] [-0.05148035 -0.07164734 0.99610061 0.16279631] [ 0. 0. 0. 1. ]] SLAMing on 57.061652532 meters 0.3789817147253325 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.17 [[ 0.9890308 0.13625062 0.05704242 -1.41549921] [-0.1402316 0.98743631 0.07283289 -2.13698731] [-0.04640223 -0.08003313 0.99571157 0.16729408] [ 0. 0. 0. 1. ]] SLAMing on 57.091652532 meters 0.3800614000922597 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.17 [[ 0.98947006 0.13295445 0.05720245 -1.41800582] [-0.136807 0.9881404 0.06973082 -2.14056015] [-0.04725303 -0.07682226 0.99592444 0.16843885] [ 0. 0. 0. 1. ]] SLAMing on 57.121652532 meters 0.37301404710386316 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.17 [[ 0.98994895 0.12917455 0.05757621 -1.42197893] [-0.13290379 0.98889686 0.06647987 -2.14635831] [-0.04834943 -0.07346377 0.9961252 0.17074652] [ 0. 0. 0. 1. ]] SLAMing on 57.151652532 meters 0.36678955031462157 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.17 [[ 0.99040066 0.12564718 0.0576136 -1.42399663] [-0.12921236 0.98961341 0.06300371 -2.14884697] [-0.04909895 -0.0698433 0.99634894 0.17169959] [ 0. 0. 0. 1. ]] SLAMing on 57.181652532 meters 0.36622765633420407 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.16, Z:0.17 [[ 0.99083596 0.12213039 0.05769112 -1.42712214] [-0.12558008 0.99023593 0.06051807 -2.15508382] [-0.04973673 -0.06720834 0.99649852 0.17452106] [ 0. 0. 0. 1. ]] SLAMing on 57.211652532 meters 0.3620492705884276 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.16, Z:0.18 [[ 0.99143747 0.11726512 0.05745121 -1.43081825] [-0.12049446 0.9911108 0.05639567 -2.16295123] [-0.05032727 -0.06283533 0.99675418 0.17801114] [ 0. 0. 0. 1. ]] SLAMing on 57.241652531999996 meters 0.3642060999413068 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.18, Z:0.17 [[ 0.9922498 0.10895331 0.05974538 -1.44345623] [-0.1125458 0.99180447 0.06047598 -2.17788537] [-0.05266668 -0.06673137 0.99638002 0.17369748] [ 0. 0. 0. 1. ]] SLAMing on 57.271652532 meters 0.35874123854568246 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.18, Z:0.17 [[ 0.99260542 0.10559821 0.05986236 -1.44549394] [-0.10903039 0.99238565 0.0572983 -2.18123658] [-0.05335595 -0.06340142 0.99656079 0.17471337] [ 0. 0. 0. 1. ]] SLAMing on 57.301652532 meters 0.36228459216453857 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.20, Z:0.17 [[ 0.9932118 0.09867239 0.06159611 -1.45611494] [-0.10252637 0.99273959 0.06290037 -2.19798654] [-0.05494236 -0.06878861 0.99611719 0.16981364] [ 0. 0. 0. 1. ]] SLAMing on 57.331652532 meters 0.3501862356918739 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.20, Z:0.17 [[ 0.99354385 0.09532385 0.06151414 -1.45772738] [-0.09900371 0.99328655 0.05983385 -2.20167325] [-0.05539758 -0.06553768 0.99631116 0.17113419] [ 0. 0. 0. 1. ]] SLAMing on 57.361652532 meters 0.3607260447202837 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.20, Z:0.17 [[ 0.99389906 0.09167606 0.06132014 -1.45907309] [-0.09514631 0.99387053 0.05628979 -2.20392723] [-0.05578385 -0.06178075 0.99652963 0.17248853] [ 0. 0. 0. 1. ]] SLAMing on 57.391652532 meters 0.3635751192474484 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.21, Z:0.17 [[ 0.99425945 0.0880306 0.06081736 -1.45954204] [-0.09127942 0.99442032 0.05287993 -2.20672782] [-0.05582297 -0.05812775 0.99674719 0.17367615] [ 0. 0. 0. 1. ]] SLAMing on 57.421652531999996 meters 0.34323359778935025 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.17 [[ 0.99464647 0.08968874 0.05132567 -1.46759372] [-0.09229453 0.99443127 0.050874 -2.22387097] [-0.04647703 -0.05533872 0.99738534 0.17239254] [ 0. 0. 0. 1. ]] SLAMing on 57.451652532 meters 0.3408528692544967 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.24, Z:0.17 [[ 0.99526942 0.08286676 0.05071377 -1.47928228] [-0.08574343 0.99465941 0.057452 -2.23599417] [-0.04568207 -0.0615286 0.99705937 0.16913476] [ 0. 0. 0. 1. ]] SLAMing on 57.481652532 meters 0.3358623785999777 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.24, Z:0.17 [[ 0.99552392 0.07955666 0.05101829 -1.48160186] [-0.08231184 0.99512136 0.05438974 -2.23958886] [-0.04644232 -0.0583457 0.99721557 0.17032743] [ 0. 0. 0. 1. ]] SLAMing on 57.511652532 meters 0.3321011076265061 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.24, Z:0.17 [[ 0.99611617 0.07220048 0.05039517 -1.48302291] [-0.07460025 0.99608244 0.04748247 -2.2445589 ] [-0.04676948 -0.05105755 0.99759999 0.17248599] [ 0. 0. 0. 1. ]] SLAMing on 57.541652532 meters 0.32771482704365723 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.25, Z:0.17 [[ 0.99636809 0.06862814 0.05040649 -1.48441154] [-0.07086855 0.99651072 0.04409122 -2.24738621] [-0.04720471 -0.04750332 0.99775505 0.17347364] [ 0. 0. 0. 1. ]] SLAMing on 57.571652532 meters 0.34551318684066573 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.17 [[ 0.99660281 0.06500127 0.05057337 -1.48626424] [-0.06708076 0.99692248 0.04056775 -2.24977668] [-0.04778077 -0.04382243 0.99789608 0.17466603] [ 0. 0. 0. 1. ]] SLAMing on 57.601652531999996 meters 0.3382841743604109 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.27, Z:0.18 [[ 0.99730244 0.06340917 0.03697459 -1.4885938 ] [-0.06490922 0.99705315 0.04088777 -2.26808625] [-0.03427297 -0.04317746 0.99847938 0.17886541] [ 0. 0. 0. 1. ]] SLAMing on 57.631652532 meters 0.33045985987740306 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.27, Z:0.18 [[ 0.99751786 0.06000521 0.03684428 -1.48942938] [-0.06139694 0.99739434 0.03788058 -2.27215809] [-0.03447524 -0.04004868 0.9986028 0.17965356] [ 0. 0. 0. 1. ]] SLAMing on 57.661652532 meters 0.3291639562120297 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.27, Z:0.18 [[ 0.99774435 0.05627244 0.03660085 -1.48989386] [-0.05753393 0.99775149 0.03437752 -2.27477035] [-0.03458404 -0.03640576 0.99873849 0.18029206] [ 0. 0. 0. 1. ]] SLAMing on 57.691652532 meters 0.3237880540627074 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.29, Z:0.18 [[ 0.99826257 0.04790454 0.0343074 -1.49821379] [-0.04925542 0.99799781 0.03967703 -2.28680894] [-0.032338 -0.04129792 0.99862342 0.1761412 ] [ 0. 0. 0. 1. ]] SLAMing on 57.721652532 meters 0.3123390300916462 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.29, Z:0.18 [[ 0.99861618 0.03994852 0.03420288 -1.49911902] [-0.0410366 0.99865387 0.03172452 -2.28909161] [-0.03288949 -0.03308419 0.99891127 0.1764917 ] [ 0. 0. 0. 1. ]] SLAMing on 57.751652532 meters 0.30661512364936977 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.29, Z:0.18 [[ 0.99876727 0.03603006 0.03414339 -1.49966029] [-0.0369895 0.99892616 0.02789798 -2.29073164] [-0.03310156 -0.02912653 0.99902749 0.17691024] [ 0. 0. 0. 1. ]] SLAMing on 57.781652532 meters 0.3030972793849434 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.29, Z:0.18 [[ 0.99891427 0.03220433 0.03366244 -1.49931905] [-0.03303369 0.99915688 0.02437846 -2.29325053] [-0.03284896 -0.02546399 0.99913589 0.17767257] [ 0. 0. 0. 1. ]] SLAMing on 57.811652532 meters 0.29370795846012643 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.30, Z:0.18 [[ 0.99951917 0.02523459 0.01801776 -1.49419429] [-0.02556807 0.99950144 0.01852404 -2.30347554] [-0.01754133 -0.01897581 0.99966605 0.18069654] [ 0. 0. 0. 1. ]] SLAMing on 57.841652532 meters 0.28840871165906706 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.31, Z:0.18 [[ 0.9996792 0.01737198 0.01843117 -1.49597569] [-0.01757391 0.99978668 0.0108514 -2.30632606] [-0.01823872 -0.01117183 0.99977124 0.1812071 ] [ 0. 0. 0. 1. ]] SLAMing on 57.871652532 meters 0.29882731067534135 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.31, Z:0.18 [[ 0.99974772 0.01325229 0.01813467 -1.49552096] [-0.01337824 0.9998871 0.00684134 -2.30735547] [-0.01804196 -0.00708222 0.99981215 0.18138022] [ 0. 0. 0. 1. ]] SLAMing on 57.901652532 meters 0.2842927052508463 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.31, Z:0.18 [[ 0.99979501 0.00931908 0.01797479 -1.49554457] [-0.0093772 0.99995107 0.00315166 -2.30937673] [-0.01794454 -0.00331957 0.99983347 0.18179079] [ 0. 0. 0. 1. ]] SLAMing on 57.931652532 meters 0.277088566114719 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.31, Z:0.18 [[ 9.99852603e-01 4.63420895e-03 1.65316589e-02 -1.49286971e+00] [-4.62373261e-03 9.99989085e-01 -6.71878879e-04 -2.31109967e+00] [-1.65345921e-02 5.95341875e-04 9.99863117e-01 1.83271434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961652532 meters 0.270783648911794 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.31, Z:0.18 [[ 9.99869127e-01 8.72997702e-04 1.61544732e-02 -1.49291522e+00] [-8.09692681e-04 9.99991970e-01 -3.92485579e-03 -2.31421734e+00] [-1.61577699e-02 3.91126197e-03 9.99861805e-01 1.84629936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991652531999996 meters 0.26702346555548995 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.31, Z:0.19 [[ 9.99891122e-01 3.09818639e-04 1.47529069e-02 -1.48979205e+00] [-2.51228365e-04 9.99992076e-01 -3.97312699e-03 -2.31459984e+00] [-1.47540209e-02 3.96898805e-03 9.99883276e-01 1.85306017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021652532 meters 0.2681584061588968 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.31, Z:0.19 [[ 9.99913705e-01 -1.32210967e-03 1.30704045e-02 -1.48552614e+00] [ 1.38494724e-03 9.99987522e-01 -4.79974109e-03 -2.31419184e+00] [-1.30638956e-02 4.81742872e-03 9.99903059e-01 1.85418890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051652532 meters 0.2637252380403451 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.32, Z:0.19 [[ 9.99936763e-01 -2.19101963e-03 1.10304098e-02 -1.48087217e+00] [ 2.24050592e-03 9.99987473e-01 -4.47599429e-03 -2.31643064e+00] [-1.10204646e-02 4.50042494e-03 9.99929145e-01 1.86262589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081652532 meters 0.25801677675881 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.32, Z:0.19 [[ 0.99992835 -0.00626682 0.01019891 -1.47976299] [ 0.00634765 0.99994855 -0.00791217 -2.31883048] [-0.0101488 0.00797634 0.99991669 0.18782314] [ 0. 0. 0. 1. ]] SLAMing on 58.111652532 meters 0.2551820783308569 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.32, Z:0.19 [[ 0.99993819 -0.00683392 0.0087695 -1.47650955] [ 0.00690344 0.99994479 -0.00792197 -2.31951349] [-0.00871488 0.00798202 0.99993017 0.18837797] [ 0. 0. 0. 1. ]] SLAMing on 58.141652532 meters 0.25936015915268423 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.31, Z:0.19 [[ 0.99988855 -0.0144912 0.00359035 -1.46286554] [ 0.01453078 0.99983107 -0.01125556 -2.31395115] [-0.00342664 0.01130647 0.99993021 0.1906327 ] [ 0. 0. 0. 1. ]] SLAMing on 58.171652531999996 meters 0.25936015915268423 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.31, Z:0.19 [[ 0.99993139 -0.01137348 0.00280447 -1.4597771 ] [ 0.01139711 0.99989843 -0.00855815 -2.31128821] [-0.00270685 0.00858953 0.99995945 0.18929526] [ 0. 0. 0. 1. ]] SLAMing on 58.201652532 meters 0.2486484954255282 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.31, Z:0.19 [[ 9.99929156e-01 -1.18142490e-02 1.45156877e-03 -1.45682862e+00] [ 1.18261127e-02 9.99894314e-01 -8.45605473e-03 -2.31210333e+00] [-1.35151343e-03 8.47262208e-03 9.99963193e-01 1.90008498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231652532 meters 0.2492119586311162 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.31, Z:0.19 [[ 9.99931785e-01 -1.16512013e-02 8.21268884e-04 -1.45588490e+00] [ 1.16573049e-02 9.99901107e-01 -7.86663940e-03 -2.31371407e+00] [-7.29531867e-04 7.87567656e-03 9.99968720e-01 1.90992173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261652532 meters 0.24583148679345926 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.32, Z:0.19 [[ 9.99934654e-01 -1.14309804e-02 1.42307006e-04 -1.45513189e+00] [ 1.14317010e-02 9.99909643e-01 -7.07262535e-03 -2.31581214e+00] [-6.14471059e-05 7.07378999e-03 9.99974979e-01 1.92479138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291652532 meters 0.25648207123165107 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.31, Z:0.20 [[ 0.99983649 -0.01718283 -0.00563403 -1.44319525] [ 0.01714265 0.99982782 -0.00710353 -2.31270001] [ 0.00575512 0.00700579 0.9999589 0.19923839] [ 0. 0. 0. 1. ]] SLAMing on 58.321652532 meters 0.23334197059339323 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.31, Z:0.20 [[ 0.99983138 -0.01709846 -0.00669669 -1.44167506] [ 0.01705647 0.99983482 -0.00627731 -2.3149216 ] [ 0.00680291 0.00616203 0.99995787 0.2010809 ] [ 0. 0. 0. 1. ]] SLAMing on 58.351652531999996 meters 0.2454352489270623 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.32, Z:0.20 [[ 0.99981871 -0.01722967 -0.00810412 -1.43928107] [ 0.01718433 0.99983648 -0.00563216 -2.31685354] [ 0.00819984 0.00549187 0.9999513 0.20291376] [ 0. 0. 0. 1. ]] SLAMing on 58.381652532 meters 0.23082232201328806 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.32, Z:0.20 [[ 0.999788 -0.01807391 -0.00986368 -1.43580891] [ 0.0180224 0.99982361 -0.00528619 -2.3186756 ] [ 0.00995748 0.00510731 0.99993738 0.2046214 ] [ 0. 0. 0. 1. ]] SLAMing on 58.411652532 meters 0.24909550687071916 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.31, Z:0.21 [[ 0.99942475 -0.02987969 -0.01604315 -1.41985093] [ 0.02970886 0.99950044 -0.01078254 -2.3147078 ] [ 0.01635732 0.01029971 0.99981316 0.20918893] [ 0. 0. 0. 1. ]] SLAMing on 58.441652532 meters 0.2730837046375849 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.32, Z:0.21 [[ 0.99924013 -0.03472343 -0.01770446 -1.41615887] [ 0.03446887 0.99930078 -0.01448634 -2.31693807] [ 0.0181951 0.01386508 0.99973831 0.210686 ] [ 0. 0. 0. 1. ]] SLAMing on 58.471652532 meters 0.24633237768831015 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.32, Z:0.22 [[ 0.99844153 -0.05076297 -0.02318691 -1.40361407] [ 0.05021218 0.99845616 -0.02374955 -2.32333835] [ 0.02435671 0.02254827 0.99944901 0.21757911] [ 0. 0. 0. 1. ]] SLAMing on 58.501652532 meters 0.28805840940181765 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.33, Z:0.22 [[ 0.99790463 -0.05833589 -0.02798709 -1.39282242] [ 0.05760731 0.99799628 -0.02616894 -2.32608708] [ 0.0294576 0.02450185 0.99926569 0.22287961] [ 0. 0. 0. 1. ]] SLAMing on 58.531652532 meters 0.30715066478132114 Centerline is valid? [False, False] Translation: X:-1.38, Y:-2.33, Z:0.23 [[ 0.99733129 -0.06528103 -0.03269065 -1.38298209] [ 0.06436158 0.99752157 -0.02843072 -2.32978178] [ 0.03446561 0.02625082 0.99906107 0.22858816] [ 0. 0. 0. 1. ]] SLAMing on 58.561652532 meters 0.233359991799868 Centerline is valid? [False, False] Translation: X:-1.37, Y:-2.33, Z:0.23 [[ 0.99650366 -0.07448365 -0.03785024 -1.37009372] [ 0.07329712 0.99680221 -0.03182589 -2.32952233] [ 0.04009971 0.0289403 0.99877649 0.23386842] [ 0. 0. 0. 1. ]] SLAMing on 58.591652532 meters 0.26077960519055415 Centerline is valid? [False, False] Translation: X:-1.35, Y:-2.33, Z:0.24 [[ 0.99270941 -0.11157751 -0.04559032 -1.3452192 ] [ 0.10981119 0.99316433 -0.03957418 -2.3334848 ] [ 0.04969427 0.03427934 0.99817604 0.23756691] [ 0. 0. 0. 1. ]] SLAMing on 58.621652532 meters 0.2656876007316326 Centerline is valid? [False, False] Translation: X:-1.34, Y:-2.34, Z:0.24 [[ 0.99098525 -0.12529792 -0.04742012 -1.33877926] [ 0.12296696 0.99118804 -0.04924829 -2.3416228 ] [ 0.05317297 0.04297322 0.99766023 0.24159333] [ 0. 0. 0. 1. ]] SLAMing on 58.651652532 meters 0.2717076386367938 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.35, Z:0.25 [[ 0.98876921 -0.14061427 -0.05062692 -1.32845187] [ 0.13759781 0.9887395 -0.05883058 -2.34764223] [ 0.05832925 0.05120371 0.99698339 0.24727804] [ 0. 0. 0. 1. ]] SLAMing on 58.681652532 meters 0.28132151891599155 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.37, Z:0.25 [[ 0.98535024 -0.1605656 -0.05747689 -1.3277908 ] [ 0.15713291 0.98575451 -0.05997737 -2.36840702] [ 0.06628841 0.0500672 0.99654359 0.25051102] [ 0. 0. 0. 1. ]] SLAMing on 58.711652532 meters 0.29292261851163665 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.39, Z:0.25 [[ 0.9778671 -0.20102327 -0.05801363 -1.31426965] [ 0.19775192 0.97856144 -0.05754723 -2.39305156] [ 0.06833823 0.04480123 0.99665578 0.25311485] [ 0. 0. 0. 1. ]] SLAMing on 58.741652531999996 meters 0.350511599860206 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.41, Z:0.26 [[ 0.97327813 -0.21900573 -0.06903751 -1.30939769] [ 0.21505136 0.97473504 -0.06036978 -2.41233644] [ 0.08051461 0.04390998 0.99578578 0.25833793] [ 0. 0. 0. 1. ]] SLAMing on 58.771652532 meters 0.29871909932431473 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.44, Z:0.26 [[ 0.96824899 -0.23704538 -0.07939381 -1.30748667] [ 0.23228009 0.97048797 -0.0648001 -2.43532667] [ 0.0924113 0.04430103 0.99473492 0.2647444 ] [ 0. 0. 0. 1. ]] SLAMing on 58.801652532 meters 0.35330431654818256 Centerline is valid? [False, False] Translation: X:-1.29, Y:-2.47, Z:0.27 [[ 0.95748061 -0.27493548 -0.08741491 -1.29308705] [ 0.26908198 0.96033879 -0.07310464 -2.47145869] [ 0.10404699 0.0464745 0.99348596 0.27131111] [ 0. 0. 0. 1. ]] SLAMing on 58.831652532 meters 0.35407861004797014 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.51, Z:0.27 [[ 0.95120783 -0.29454821 -0.09189673 -1.29843586] [ 0.28858641 0.95467937 -0.07283666 -2.50770102] [ 0.10918582 0.04276265 0.99310111 0.27409029] [ 0. 0. 0. 1. ]] SLAMing on 58.861652532 meters 0.3438828564125785 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.57, Z:0.28 [[ 0.94387237 -0.31544889 -0.09796401 -1.32499479] [ 0.31015502 0.9484172 -0.06564047 -2.56984108] [ 0.11361697 0.03157219 0.99302285 0.27528047] [ 0. 0. 0. 1. ]] SLAMing on 58.891652532 meters 0.34274133637748594 Centerline is valid? [False, False] Translation: X:-1.35, Y:-2.62, Z:0.27 [[ 0.93759734 -0.33479173 -0.09394532 -1.34917493] [ 0.33041157 0.94197194 -0.05930472 -2.62427915] [ 0.10834859 0.02456333 0.99380945 0.27266718] [ 0. 0. 0. 1. ]] SLAMing on 58.921652531999996 meters 0.32785952392877404 Centerline is valid? [False, False] Translation: X:-1.36, Y:-2.69, Z:0.27 [[ 0.92166575 -0.37508923 -0.09919837 -1.36117958] [ 0.37156674 0.92691609 -0.0525806 -2.6934962 ] [ 0.11167098 0.01160292 0.9936775 0.27468299] [ 0. 0. 0. 1. ]] SLAMing on 58.951652532 meters 0.30317350924837894 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.76, Z:0.27 [[ 0.91339801 -0.39407808 -0.10201243 -1.39245404] [ 0.39113518 0.91906749 -0.04825157 -2.75816626] [ 0.1127712 0.00417224 0.99361222 0.27428168] [ 0. 0. 0. 1. ]] SLAMing on 58.981652532 meters 0.3195980500760552 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.83, Z:0.27 [[ 0.90579895 -0.41152666 -0.10086656 -1.43476102] [ 0.40934995 0.91139307 -0.04237082 -2.83231192] [ 0.10936581 -0.00291028 0.99399731 0.27205609] [ 0. 0. 0. 1. ]] SLAMing on 59.011652532 meters 0.23544624997158595 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.92, Z:0.27 [[ 0.88944876 -0.44405875 -0.10813293 -1.47246227] [ 0.44333838 0.89578489 -0.03194538 -2.92405304] [ 0.11104947 -0.0195257 0.99362305 0.27303455] [ 0. 0. 0. 1. ]] SLAMing on 59.041652532 meters 0.2680561346662666 Centerline is valid? [False, False] Translation: X:-1.54, Y:-3.02, Z:0.27 [[ 0.88201528 -0.45915586 -0.10594784 -1.5386731 ] [ 0.45923437 0.88796017 -0.0251104 -3.02152086] [ 0.10560705 -0.02650713 0.99405459 0.27085045] [ 0. 0. 0. 1. ]] SLAMing on 59.071652532 meters 0.24300811536284847 Centerline is valid? [False, False] Translation: X:-1.61, Y:-3.12, Z:0.27 [[ 0.8771352 -0.46920059 -0.10239455 -1.61213994] [ 0.46974411 0.88257035 -0.02024949 -3.1229553 ] [ 0.09987147 -0.03033769 0.99453774 0.26700493] [ 0. 0. 0. 1. ]] SLAMing on 59.101652531999996 meters 0.22769387106685507 Centerline is valid? [False, False] Translation: X:-1.68, Y:-3.21, Z:0.26 [[ 0.87126735 -0.48048713 -0.10012652 -1.67659306] [ 0.48118237 0.87642139 -0.01868351 -3.21366215] [ 0.09673021 -0.03190079 0.99479928 0.26407948] [ 0. 0. 0. 1. ]] SLAMing on 59.131652532 meters 0.21056092129122603 Centerline is valid? [False, False] Translation: X:-1.73, Y:-3.31, Z:0.26 [[ 0.85901111 -0.50193601 -0.10079754 -1.72857224] [ 0.50294532 0.86415115 -0.01699408 -3.30633552] [ 0.09563425 -0.03609755 0.99476181 0.26140296] [ 0. 0. 0. 1. ]] SLAMing on 59.161652532 meters 0.21441647704168518 Centerline is valid? [False, False] Translation: X:-1.80, Y:-3.39, Z:0.26 [[ 0.8547201 -0.50905349 -0.10157803 -1.79614437] [ 0.50987088 0.86002516 -0.01970817 -3.39435617] [ 0.09739217 -0.03494672 0.99463234 0.26078601] [ 0. 0. 0. 1. ]] SLAMing on 59.191652532 meters 0.21400151269388631 Centerline is valid? [False, False] Translation: X:-1.87, Y:-3.49, Z:0.26 [[ 0.85318124 -0.5116938 -0.10124839 -1.87373036] [ 0.51216133 0.85857292 -0.02330898 -3.49083127] [ 0.09885619 -0.03196873 0.99458808 0.25910912] [ 0. 0. 0. 1. ]] SLAMing on 59.221652532 meters 0.2137477499253809 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.57, Z:0.26 [[ 0.85343214 -0.51104336 -0.10241221 -1.93769619] [ 0.51051772 0.85922306 -0.03327737 -3.57017249] [ 0.10500112 -0.02388327 0.99418527 0.25972144] [ 0. 0. 0. 1. ]] SLAMing on 59.251652532 meters 0.21025908730939233 Centerline is valid? [False, False] Translation: X:-1.99, Y:-3.65, Z:0.26 [[ 0.84969593 -0.51729143 -0.10210975 -1.9879775 ] [ 0.51563755 0.85567387 -0.04404696 -3.64607673] [ 0.11015776 -0.01522509 0.9937975 0.2590277 ] [ 0. 0. 0. 1. ]] SLAMing on 59.281652532 meters 0.19739742513641562 Centerline is valid? [False, False] Translation: X:-2.08, Y:-3.75, Z:0.26 [[ 0.8503661 -0.51636485 -0.10121675 -2.07747816] [ 0.51449891 0.85626785 -0.04578473 -3.74564952] [ 0.11031028 -0.01314213 0.99381031 0.25717584] [ 0. 0. 0. 1. ]] SLAMing on 59.311652532 meters 0.19381331520101344 Centerline is valid? [False, False] Translation: X:-2.14, Y:-3.83, Z:0.26 [[ 0.85055765 -0.51620755 -0.10040642 -2.14178752] [ 0.51343301 0.85644373 -0.05376501 -3.82524267] [ 0.11374635 -0.00582173 0.99349277 0.25508584] [ 0. 0. 0. 1. ]] SLAMing on 59.341652532 meters 0.1787355483467521 Centerline is valid? [False, False] Translation: X:-2.22, Y:-3.91, Z:0.26 [[ 8.53788860e-01 -5.09822900e-01 -1.05476034e-01 -2.22179636e+00] [ 5.06225280e-01 8.60277593e-01 -6.04849502e-02 -3.91077222e+00] [ 1.21575281e-01 -1.75325799e-03 9.92580665e-01 2.57928291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371652532 meters 0.17112315338470305 Centerline is valid? [False, False] Translation: X:-2.31, Y:-4.00, Z:0.25 [[ 0.85420416 -0.50948597 -0.10372702 -2.30795388] [ 0.50643009 0.86046578 -0.05592139 -3.99878293] [ 0.11774472 -0.0047622 0.99303248 0.25362414] [ 0. 0. 0. 1. ]] SLAMing on 59.401652532 meters 0.17903255779979316 Centerline is valid? [False, False] Translation: X:-2.39, Y:-4.08, Z:0.25 [[ 8.58083024e-01 -5.03655712e-01 -1.00122166e-01 -2.38816777e+00] [ 5.00424760e-01 8.63903606e-01 -5.69703405e-02 -4.07820584e+00] [ 1.15189337e-01 -1.21832865e-03 9.93342807e-01 2.51852045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431652532 meters 0.16430409447085903 Centerline is valid? [False, False] Translation: X:-2.48, Y:-4.17, Z:0.25 [[ 8.60009285e-01 -5.00668875e-01 -9.85632135e-02 -2.48307315e+00] [ 4.97871625e-01 8.65631730e-01 -5.29674732e-02 -4.16931461e+00] [ 1.11838610e-01 -3.51930844e-03 9.93720152e-01 2.49030540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461652532 meters 0.18456507477918568 Centerline is valid? [False, False] Translation: X:-2.57, Y:-4.26, Z:0.24 [[ 8.59014131e-01 -5.03548657e-01 -9.23767991e-02 -2.57096560e+00] [ 5.01156810e-01 8.63957413e-01 -4.91878111e-02 -4.25831342e+00] [ 1.04578077e-01 -4.04223715e-03 9.94508465e-01 2.44220938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491652531999996 meters 0.1619700850998028 Centerline is valid? [False, False] Translation: X:-2.65, Y:-4.33, Z:0.24 [[ 8.62414725e-01 -4.98419760e-01 -8.84227606e-02 -2.65146310e+00] [ 4.95797120e-01 8.66935813e-01 -5.10638052e-02 -4.33182274e+00] [ 1.02108067e-01 1.98427447e-04 9.94773292e-01 2.42306914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521652532 meters 0.17742070311248842 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.41, Z:0.24 [[ 0.8664746 -0.49137878 -0.08813998 -2.73976882] [ 0.48825682 0.87093113 -0.05553596 -4.41231365] [ 0.10405304 0.00508555 0.99455875 0.24478142] [ 0. 0. 0. 1. ]] SLAMing on 59.551652532 meters 0.1590030851923943 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.49, Z:0.24 [[ 0.87021812 -0.48545799 -0.08397002 -2.82045493] [ 0.48248154 0.87423553 -0.05407221 -4.48618673] [ 0.09965936 0.00654063 0.99500012 0.24282817] [ 0. 0. 0. 1. ]] SLAMing on 59.581652532 meters 0.16951827732480682 Centerline is valid? [False, False] Translation: X:-2.90, Y:-4.56, Z:0.24 [[ 0.87411119 -0.47852157 -0.08334714 -2.90147352] [ 0.47553171 0.87804368 -0.05393407 -4.55629867] [ 0.09899105 0.00751016 0.99505998 0.24378043] [ 0. 0. 0. 1. ]] SLAMing on 59.611652532 meters 0.15343115287386144 Centerline is valid? [False, False] Translation: X:-2.99, Y:-4.63, Z:0.24 [[ 0.87791594 -0.47206532 -0.08011207 -2.9859758 ] [ 0.46905652 0.88150743 -0.05413531 -4.62722098] [ 0.09617479 0.00994916 0.99531474 0.24350007] [ 0. 0. 0. 1. ]] SLAMing on 59.641652532 meters 0.1486529461103946 Centerline is valid? [False, False] Translation: X:-3.06, Y:-4.69, Z:0.25 [[ 0.879955 -0.46846042 -0.07889255 -3.06162883] [ 0.46552635 0.88342554 -0.05333406 -4.69220495] [ 0.09468059 0.01020501 0.99545539 0.24508608] [ 0. 0. 0. 1. ]] SLAMing on 59.671652531999996 meters 0.1462725288598993 Centerline is valid? [False, False] Translation: X:-3.13, Y:-4.75, Z:0.25 [[ 0.88481676 -0.45826532 -0.08421516 -3.12880847] [ 0.45463735 0.8887028 -0.0592639 -4.74601066] [ 0.10200084 0.01415034 0.99468367 0.25139684] [ 0. 0. 0. 1. ]] SLAMing on 59.701652532 meters 0.15095609170906277 Centerline is valid? [False, False] Translation: X:-3.21, Y:-4.81, Z:0.25 [[ 0.88930667 -0.44995236 -0.08170998 -3.21314328] [ 0.4468371 0.89297702 -0.05411708 -4.81021644] [ 0.09731524 0.01161563 0.99518582 0.25244507] [ 0. 0. 0. 1. ]] SLAMing on 59.731652532 meters 0.14422263853847098 Centerline is valid? [False, False] Translation: X:-3.30, Y:-4.87, Z:0.25 [[ 0.89410677 -0.44081696 -0.07907904 -3.30046174] [ 0.43803698 0.89753501 -0.05054223 -4.8732891 ] [ 0.09325608 0.01055061 0.99558625 0.25228642] [ 0. 0. 0. 1. ]] SLAMing on 59.761652532 meters 0.1485867686597698 Centerline is valid? [False, False] Translation: X:-3.37, Y:-4.92, Z:0.26 [[ 0.89908092 -0.4298764 -0.08282375 -3.36858429] [ 0.42656908 0.90277619 -0.05508146 -4.92136112] [ 0.09844953 0.01419264 0.99504083 0.25706121] [ 0. 0. 0. 1. ]] SLAMing on 59.791652532 meters 0.14430847970696895 Centerline is valid? [False, False] Translation: X:-3.46, Y:-4.98, Z:0.26 [[ 0.90448129 -0.41936511 -0.07775924 -3.45650208] [ 0.4169278 0.90777036 -0.0460888 -4.97766312] [ 0.08991556 0.00926647 0.99590628 0.25714397] [ 0. 0. 0. 1. ]] SLAMing on 59.821652532 meters 0.15191895423270468 Centerline is valid? [False, False] Translation: X:-3.53, Y:-5.02, Z:0.26 [[ 0.90990464 -0.40844628 -0.0724236 -3.52531963] [ 0.40603448 0.91269686 -0.04604822 -5.02257146] [ 0.08490902 0.01249301 0.99631038 0.25854863] [ 0. 0. 0. 1. ]] SLAMing on 59.851652531999996 meters 0.1632554951958876 Centerline is valid? [False, False] Translation: X:-3.60, Y:-5.07, Z:0.26 [[ 0.9156478 -0.3958783 -0.06978164 -3.59783987] [ 0.39343549 0.91817969 -0.04641735 -5.0691961 ] [ 0.08244771 0.01504737 0.99648179 0.26334886] [ 0. 0. 0. 1. ]] SLAMing on 59.881652532 meters 0.16752329129577115 Centerline is valid? [False, False] Translation: X:-3.67, Y:-5.11, Z:0.27 [[ 0.92228085 -0.38073922 -0.06660087 -3.67144379] [ 0.37847797 0.92455022 -0.04428679 -5.11097694] [ 0.07843757 0.01563789 0.99679637 0.26701007] [ 0. 0. 0. 1. ]] SLAMing on 59.911652532 meters 0.1660376481066915 Centerline is valid? [False, False] Translation: X:-3.74, Y:-5.15, Z:0.27 [[ 0.92713057 -0.36963712 -0.06162222 -3.73892065] [ 0.36756375 0.92902425 -0.04255377 -5.15261332] [ 0.07297799 0.01680281 0.997192 0.27038277] [ 0. 0. 0. 1. ]] SLAMing on 59.941652532 meters 0.15730518230811 Centerline is valid? [False, False] Translation: X:-3.81, Y:-5.19, Z:0.27 [[ 0.9319539 -0.35816827 -0.05636867 -3.80599512] [ 0.35631222 0.93349087 -0.04045233 -5.19272541] [ 0.06710838 0.01761486 0.99759019 0.27307029] [ 0. 0. 0. 1. ]] SLAMing on 59.971652532 meters 0.17709579318514285 Centerline is valid? [False, False] Translation: X:-3.88, Y:-5.23, Z:0.28 [[ 0.93817171 -0.34227242 -0.05180186 -3.87989178] [ 0.34071248 0.93945084 -0.03670334 -5.23198962] [ 0.06122784 0.0167845 0.99798268 0.27775003] [ 0. 0. 0. 1. ]] SLAMing on 60.001652532 meters 0.17312480579656914 Centerline is valid? [False, False] Translation: X:-3.94, Y:-5.27, Z:0.28 [[ 0.94211226 -0.33195057 -0.04725793 -3.94467938] [ 0.33057994 0.94314447 -0.03457477 -5.26880793] [ 0.05604817 0.01695079 0.99828416 0.28240295] [ 0. 0. 0. 1. ]] SLAMing on 60.031652532 meters 0.17254350833045493 Centerline is valid? [False, False] Translation: X:-3.99, Y:-5.29, Z:0.29 [[ 0.9463079 -0.31902907 -0.05217091 -3.98851091] [ 0.31718259 0.94748987 -0.04072033 -5.29333056] [ 0.06242238 0.02198627 0.99780762 0.29236098] [ 0. 0. 0. 1. ]] SLAMing on 60.061652532 meters 0.17254350833045493 Centerline is valid? [False, False] Translation: X:-4.03, Y:-5.32, Z:0.30 [[ 0.9495911 -0.30826126 -0.05702397 -4.02741474] [ 0.305863 0.95091113 -0.04707272 -5.3179214 ] [ 0.06873542 0.02725832 0.99726247 0.30145047] [ 0. 0. 0. 1. ]] SLAMing on 60.091652532 meters 0.17512797970196967 Centerline is valid? [False, False] Translation: X:-4.09, Y:-5.35, Z:0.31 [[ 0.95338579 -0.29785782 -0.0483348 -4.09247693] [ 0.29617785 0.95433645 -0.03899511 -5.35297609] [ 0.05774267 0.02286169 0.9980697 0.30695201] [ 0. 0. 0. 1. ]] SLAMing on 60.121652532 meters 0.17679483948344862 Centerline is valid? [False, False] Translation: X:-4.15, Y:-5.38, Z:0.31 [[ 0.95602948 -0.28980491 -0.04495271 -4.14629945] [ 0.28848905 0.95689475 -0.03356335 -5.38307771] [ 0.05274184 0.01911919 0.99842514 0.31163077] [ 0. 0. 0. 1. ]] SLAMing on 60.151652532 meters 0.18796394446799433 Centerline is valid? [False, False] Translation: X:-4.18, Y:-5.40, Z:0.32 [[ 0.95945547 -0.27744319 -0.04970401 -4.18427671] [ 0.27577041 0.96047324 -0.03797144 -5.4029256 ] [ 0.05827429 0.02272501 0.99804192 0.31998993] [ 0. 0. 0. 1. ]] SLAMing on 60.181652532 meters 0.18923755674929957 Centerline is valid? [False, False] Translation: X:-4.24, Y:-5.43, Z:0.32 [[ 0.96181668 -0.26982001 -0.0458894 -4.23696936] [ 0.26852472 0.96272478 -0.03248807 -5.43048847] [ 0.05294479 0.01892513 0.99841809 0.32333928] [ 0. 0. 0. 1. ]] SLAMing on 60.211652532 meters 0.18284262444382968 Centerline is valid? [False, False] Translation: X:-4.28, Y:-5.45, Z:0.33 [[ 0.96476727 -0.26106604 -0.03268992 -4.28269217] [ 0.26002294 0.96503973 -0.03296054 -5.45444133] [ 0.04015195 0.02329912 0.9989219 0.32666852] [ 0. 0. 0. 1. ]] SLAMing on 60.241652531999996 meters 0.18369168318908793 Centerline is valid? [False, False] Translation: X:-4.32, Y:-5.47, Z:0.34 [[ 0.96768514 -0.24990381 -0.03366821 -4.31988889] [ 0.24870433 0.96790595 -0.03611416 -5.4747384 ] [ 0.04161273 0.02657371 0.99878037 0.33607429] [ 0. 0. 0. 1. ]] SLAMing on 60.271652532 meters 0.17423781917949685 Centerline is valid? [False, False] Translation: X:-4.35, Y:-5.49, Z:0.35 [[ 0.96953406 -0.24289453 -0.03171676 -4.35012336] [ 0.24165132 0.96959906 -0.03850077 -5.49262373] [ 0.04010417 0.02966341 0.99875509 0.34505667] [ 0. 0. 0. 1. ]] SLAMing on 60.301652532 meters 0.1732304806826309 Centerline is valid? [False, False] Translation: X:-4.39, Y:-5.52, Z:0.34 [[ 0.97162721 -0.23601456 -0.01541729 -4.39283529] [ 0.23542735 0.97134311 -0.0326577 -5.51610572] [ 0.02268317 0.02810146 0.99934768 0.34374861] [ 0. 0. 0. 1. ]] SLAMing on 60.331652532 meters 0.17701640266929228 Centerline is valid? [False, False] Translation: X:-4.43, Y:-5.53, Z:0.35 [[ 0.9745408 -0.22356238 -0.01703223 -4.42543635] [ 0.22292904 0.97428153 -0.03283522 -5.53377182] [ 0.02393491 0.02820229 0.99931564 0.35324685] [ 0. 0. 0. 1. ]] SLAMing on 60.361652532 meters 0.17633669514656303 Centerline is valid? [False, False] Translation: X:-4.45, Y:-5.55, Z:0.36 [[ 0.97716621 -0.2117178 -0.01793801 -4.45445863] [ 0.21110053 0.97696476 -0.03124774 -5.54986501] [ 0.0241405 0.02674752 0.99935069 0.36270038] [ 0. 0. 0. 1. ]] SLAMing on 60.391652532 meters 0.1821644379606458 Centerline is valid? [False, False] Translation: X:-4.49, Y:-5.57, Z:0.37 [[ 0.97977238 -0.19926475 -0.0184292 -4.48535149] [ 0.19864549 0.97958447 -0.03089054 -5.56554539] [ 0.02420835 0.02660482 0.99935286 0.36991337] [ 0. 0. 0. 1. ]] SLAMing on 60.421652531999996 meters 0.17926821082834743 Centerline is valid? [False, False] Translation: X:-4.51, Y:-5.58, Z:0.38 [[ 0.98149848 -0.1906439 -0.01776589 -4.51035077] [ 0.19005684 0.98130399 -0.03034598 -5.58129739] [ 0.02321902 0.026408 0.99938156 0.3778943 ] [ 0. 0. 0. 1. ]] SLAMing on 60.451652532 meters 0.1705093096575622 Centerline is valid? [False, False] Translation: X:-4.53, Y:-5.60, Z:0.38 [[ 0.98161997 -0.19049549 -0.01156329 -4.52968258] [ 0.19005793 0.98127084 -0.031393 -5.60182485] [ 0.01732695 0.0286183 0.99944023 0.38405745] [ 0. 0. 0. 1. ]] SLAMing on 60.481652532 meters 0.18201132642532006 Centerline is valid? [False, False] Translation: X:-4.54, Y:-5.61, Z:0.39 [[ 0.98433292 -0.17611649 -0.00846637 -4.53847913] [ 0.17572232 0.98381527 -0.03505967 -5.61151714] [ 0.01450392 0.03302265 0.99934936 0.39078139] [ 0. 0. 0. 1. ]] SLAMing on 60.511652532 meters 0.16607533946167286 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.62, Z:0.39 [[ 0.9849405 -0.17274311 -0.0072127 -4.54503385] [ 0.17244047 0.98452223 -0.03130918 -5.6214458 ] [ 0.01250951 0.02959392 0.99948372 0.39458205] [ 0. 0. 0. 1. ]] SLAMing on 60.541652532 meters 0.18088955819188612 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.63, Z:0.40 [[ 9.85548089e-01 -1.69358441e-01 -3.56121709e-03 -4.56207450e+00] [ 1.69166847e-01 9.85090910e-01 -3.12806254e-02 -5.63203645e+00] [ 8.80576052e-03 3.02261207e-02 9.99504297e-01 3.98815270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571652532 meters 0.16561863075221495 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.65, Z:0.40 [[ 9.86234729e-01 -1.65344470e-01 -1.50483104e-03 -4.57896701e+00] [ 1.65215459e-01 9.85752437e-01 -3.15592460e-02 -5.64655556e+00] [ 6.70153768e-03 3.08762031e-02 9.99500750e-01 4.04362147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601652531999996 meters 0.16737357676836695 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.66, Z:0.41 [[ 9.87222534e-01 -1.59346719e-01 5.39039061e-04 -4.59987590e+00] [ 1.59284682e-01 9.86731819e-01 -3.14437149e-02 -5.66003949e+00] [ 4.47856581e-03 3.11278045e-02 9.99505379e-01 4.10871003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631652532 meters 0.1714965979148163 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.67, Z:0.42 [[ 9.88016289e-01 -1.54320627e-01 2.99274369e-03 -4.61958251e+00] [ 1.54337903e-01 9.87516270e-01 -3.14869680e-02 -5.67327251e+00] [ 1.90370554e-03 3.15715310e-02 9.99499682e-01 4.16911260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661652532 meters 0.15734254970432032 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.68, Z:0.42 [[ 9.88424427e-01 -1.51673560e-01 3.50483434e-03 -4.62416800e+00] [ 1.51712276e-01 9.88037423e-01 -2.76665194e-02 -5.68238410e+00] [ 7.33371994e-04 2.78779900e-02 9.99611064e-01 4.21777490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691652532 meters 0.16374946369890556 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.69, Z:0.43 [[ 9.88919813e-01 -1.48286835e-01 6.97271862e-03 -4.64168368e+00] [ 1.48424950e-01 9.88531598e-01 -2.78444495e-02 -5.69171623e+00] [-2.76378737e-03 2.85708532e-02 9.99587949e-01 4.26822525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721652532 meters 0.16492018721460136 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.70, Z:0.44 [[ 9.89793752e-01 -1.42434180e-01 4.56433887e-03 -4.65957553e+00] [ 1.42506603e-01 9.89380883e-01 -2.85891148e-02 -5.70254686e+00] [-4.43802497e-04 2.89477756e-02 9.99580827e-01 4.35843875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751652532 meters 0.16176875868562582 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.71, Z:0.44 [[ 9.90444040e-01 -1.37741944e-01 6.91090305e-03 -4.67856748e+00] [ 1.37884505e-01 9.90036801e-01 -2.85481428e-02 -5.71269148e+00] [-2.90977167e-03 2.92282444e-02 9.99568528e-01 4.42229913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781652532 meters 0.16276135807813016 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.73, Z:0.45 [[ 0.99071096 -0.13585452 -0.00594466 -4.68992532] [ 0.13562704 0.99032966 -0.02919709 -5.72679321] [ 0.00985373 0.02811962 0.999556 0.45419754] [ 0. 0. 0. 1. ]] SLAMing on 60.811652532 meters 0.15633542568210387 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.73, Z:0.46 [[ 0.99079321 -0.13523196 -0.00641385 -4.68966301] [ 0.13500672 0.99045717 -0.02770876 -5.73099655] [ 0.01009976 0.02658774 0.99959546 0.45580545] [ 0. 0. 0. 1. ]] SLAMing on 60.841652532 meters 0.1729861908463486 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.73, Z:0.46 [[ 0.99173856 -0.12774341 -0.01167285 -4.68051965] [ 0.12729938 0.99131297 -0.0330676 -5.73197371] [ 0.01579562 0.03130847 0.99938495 0.46272661] [ 0. 0. 0. 1. ]] SLAMing on 60.871652532 meters 0.173205719506676 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.73, Z:0.47 [[ 0.99296709 -0.11701842 -0.01797364 -4.67035193] [ 0.11633694 0.99258681 -0.03517307 -5.73351884] [ 0.02195629 0.0328347 0.9992196 0.46937273] [ 0. 0. 0. 1. ]] SLAMing on 60.901652532 meters 0.17506025686864157 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.74, Z:0.48 [[ 0.9943516 -0.10406585 -0.02086155 -4.66481487] [ 0.10326104 0.99398346 -0.03652447 -5.73514935] [ 0.02453699 0.03416398 0.99911499 0.47650542] [ 0. 0. 0. 1. ]] SLAMing on 60.931652532 meters 0.18198689857785183 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.74, Z:0.48 [[ 0.99484056 -0.0989888 -0.02221429 -4.66419133] [ 0.09829909 0.99469709 -0.03024862 -5.74027598] [ 0.02509077 0.02790891 0.99929553 0.47957771] [ 0. 0. 0. 1. ]] SLAMing on 60.961652532 meters 0.1580183650703476 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.74, Z:0.49 [[ 0.99535175 -0.0917859 -0.02915902 -4.65359337] [ 0.09076375 0.99527002 -0.0346341 -5.74119768] [ 0.03220002 0.03182653 0.99897459 0.48730601] [ 0. 0. 0. 1. ]] SLAMing on 60.991652531999996 meters 0.16879462253917762 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.75, Z:0.49 [[ 0.99576154 -0.08670753 -0.03067188 -4.65257635] [ 0.08585755 0.99591323 -0.02802361 -5.74704566] [ 0.03297639 0.02527142 0.99913658 0.49084594] [ 0. 0. 0. 1. ]] SLAMing on 61.021652532 meters 0.1625104816800044 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.75, Z:0.49 [[ 0.99580957 -0.08597817 -0.03116176 -4.65259554] [ 0.08517337 0.99601908 -0.0262961 -5.75170016] [ 0.0332986 0.02353176 0.99916838 0.49308079] [ 0. 0. 0. 1. ]] SLAMing on 61.051652532 meters 0.169095303774166 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.75, Z:0.50 [[ 0.99641155 -0.07571289 -0.03783634 -4.64184994] [ 0.07466043 0.99680176 -0.02849704 -5.75365684] [ 0.03987292 0.0255699 0.99887754 0.49946748] [ 0. 0. 0. 1. ]] SLAMing on 61.081652532 meters 0.16117586984764457 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.76, Z:0.49 [[ 0.99678094 -0.07813553 -0.01796121 -4.65689725] [ 0.07779088 0.99678581 -0.01914774 -5.75773956] [ 0.0193996 0.01768889 0.99965532 0.49420121] [ 0. 0. 0. 1. ]] SLAMing on 61.111652532 meters 0.16695231107523623 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.76, Z:0.50 [[ 0.99714747 -0.070543 -0.02684397 -4.64207892] [ 0.06997518 0.99731624 -0.02153566 -5.75951405] [ 0.02829111 0.01959581 0.99940763 0.50010391] [ 0. 0. 0. 1. ]] SLAMing on 61.141652532 meters 0.15747269839539607 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.76, Z:0.51 [[ 0.99737056 -0.06431635 -0.03339706 -4.63083952] [ 0.06340337 0.99760313 -0.02771313 -5.76057788] [ 0.03509942 0.02552277 0.99905787 0.50586454] [ 0. 0. 0. 1. ]] SLAMing on 61.171652531999996 meters 0.16182922890343512 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.76, Z:0.50 [[ 0.99758126 -0.0681312 -0.01377539 -4.64453573] [ 0.0678519 0.99749857 -0.01981712 -5.76459745] [ 0.0150911 0.01883451 0.99970872 0.50044628] [ 0. 0. 0. 1. ]] SLAMing on 61.201652532 meters 0.1577509337537835 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.77, Z:0.51 [[ 0.99770119 -0.06410313 -0.02198012 -4.63092617] [ 0.06355243 0.99766784 -0.02489921 -5.76565247] [ 0.02352498 0.02344508 0.9994483 0.50604825] [ 0. 0. 0. 1. ]] SLAMing on 61.231652532 meters 0.1563097817818322 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.77, Z:0.51 [[ 0.99774715 -0.05902803 -0.03187959 -4.6140412 ] [ 0.05819002 0.99795095 -0.02660484 -5.76837173] [ 0.0333847 0.02468983 0.99913757 0.51217058] [ 0. 0. 0. 1. ]] SLAMing on 61.261652532 meters 0.15328327910459819 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.77, Z:0.51 [[ 0.99789807 -0.06292586 -0.01548465 -4.6230169 ] [ 0.06265773 0.9978863 -0.01723173 -5.77112896] [ 0.01653624 0.01622527 0.99973161 0.50659645] [ 0. 0. 0. 1. ]] SLAMing on 61.291652532 meters 0.150366607624241 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.77, Z:0.51 [[ 0.99815171 -0.05551284 -0.02472817 -4.6075394 ] [ 0.05505417 0.99830526 -0.0188587 -5.77220731] [ 0.02573316 0.01746245 0.99951632 0.51240629] [ 0. 0. 0. 1. ]] SLAMing on 61.321652532 meters 0.149371757817457 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.77, Z:0.52 [[ 0.99828909 -0.0477946 -0.03368332 -4.59287088] [ 0.04712254 0.99867931 -0.02047198 -5.77355641] [ 0.03461728 0.01884971 0.99922286 0.5182276 ] [ 0. 0. 0. 1. ]] SLAMing on 61.351652531999996 meters 0.14735013344191852 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.78, Z:0.51 [[ 0.99863444 -0.05032798 -0.01401238 -4.60291566] [ 0.05010841 0.9986219 -0.01560276 -5.77540071] [ 0.01477832 0.01487931 0.99978008 0.51084151] [ 0. 0. 0. 1. ]] SLAMing on 61.381652532 meters 0.1464437902459848 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.78, Z:0.52 [[ 0.99868425 -0.04576642 -0.02313447 -4.58855508] [ 0.04535198 0.99880649 -0.01813265 -5.77641794] [ 0.02393673 0.01705959 0.99956791 0.51756305] [ 0. 0. 0. 1. ]] SLAMing on 61.411652532 meters 0.14487064356687296 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.78, Z:0.51 [[ 0.99893183 -0.04571219 -0.00675279 -4.59119042] [ 0.04558349 0.99879617 -0.01812043 -5.77604567] [ 0.00757299 0.01779326 0.99981301 0.51215865] [ 0. 0. 0. 1. ]] SLAMing on 61.441652532 meters 0.14691148905440668 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.78, Z:0.52 [[ 0.99919404 -0.03710216 -0.01531962 -4.57770881] [ 0.03680137 0.99913291 -0.01947011 -5.7774946 ] [ 0.01602872 0.01889064 0.99969306 0.51846723] [ 0. 0. 0. 1. ]] SLAMing on 61.471652532 meters 0.14469370896259542 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 0.99929199 -0.02895118 -0.02402806 -4.56389524] [ 0.02845448 0.99937944 -0.02076252 -5.77794507] [ 0.02461425 0.02006411 0.99949566 0.52466524] [ 0. 0. 0. 1. ]] SLAMing on 61.501652532 meters 0.1443482191575908 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.52 [[ 0.99954497 -0.02897828 -0.00837311 -4.56590366] [ 0.02881694 0.99940816 -0.01878599 -5.77697315] [ 0.00891254 0.01853616 0.99978847 0.52058439] [ 0. 0. 0. 1. ]] SLAMing on 61.531652532 meters 0.14509234624495887 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 0.99974784 -0.01998961 -0.01023114 -4.56388187] [ 0.01992492 0.99978108 -0.00638588 -5.78505046] [ 0.01035655 0.00618042 0.99992727 0.52716841] [ 0. 0. 0. 1. ]] SLAMing on 61.561652532 meters 0.14409981212087783 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99827888e-01 -1.50733491e-02 -1.08161461e-02 -4.56385146e+00] [ 1.50676059e-02 9.99886290e-01 -6.12283789e-04 -5.78896909e+00] [ 1.08241453e-02 4.49204981e-04 9.99941316e-01 5.29484722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591652532 meters 0.14304069394008379 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99908408e-01 -1.27016686e-02 -4.67369258e-03 -4.55079937e+00] [ 1.26616338e-02 9.99883726e-01 -8.49812060e-03 -5.78519174e+00] [ 4.78108946e-03 8.43816565e-03 9.99952968e-01 5.26925081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621652532 meters 0.1427677619891202 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99957872e-01 -7.68517333e-03 -5.01927984e-03 -4.55130099e+00] [ 7.67142043e-03 9.99966783e-01 -2.75354407e-03 -5.78882181e+00] [ 5.04027458e-03 2.71492306e-03 9.99983612e-01 5.29123204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651652532 meters 0.1414493241576872 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99979882e-01 -3.04746452e-03 -5.56306811e-03 -4.55077165e+00] [ 3.06228126e-03 9.99991782e-01 2.65683886e-03 -5.79240788e+00] [ 5.55492577e-03 -2.67382109e-03 9.99980997e-01 5.30525286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681652532 meters 0.15342141467448045 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99980539e-01 -2.85277348e-03 -5.54832191e-03 -4.55109775e+00] [ 2.86951808e-03 9.99991346e-01 3.01234184e-03 -5.79329604e+00] [ 5.53968036e-03 -3.02820422e-03 9.99980071e-01 5.31022951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711652532 meters 0.13909330246871496 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99982433e-01 -2.54826048e-03 -5.35171249e-03 -4.55199301e+00] [ 2.56635944e-03 9.99991002e-01 3.37776196e-03 -5.79392504e+00] [ 5.34305692e-03 -3.39143704e-03 9.99979975e-01 5.31653342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741652531999996 meters 0.1365925714380325 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99980420e-01 -2.44807396e-03 -5.75899780e-03 -4.55111636e+00] [ 2.47176641e-03 9.99988497e-01 4.11047361e-03 -5.79694463e+00] [ 5.74886881e-03 -4.12462802e-03 9.99974969e-01 5.32121689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771652532 meters 0.13264649320497918 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99978557e-01 -2.51002886e-03 -6.04856386e-03 -4.55015694e+00] [ 2.53669288e-03 9.99987082e-01 4.40469010e-03 -5.79870197e+00] [ 6.03742982e-03 -4.41993900e-03 9.99972006e-01 5.31838999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801652532 meters 0.15121743622911715 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99978063e-01 -2.57675784e-03 -6.10202583e-03 -4.54985775e+00] [ 2.60342863e-03 9.99987076e-01 4.36690665e-03 -5.79886501e+00] [ 6.09069451e-03 -4.38269704e-03 9.99971847e-01 5.31589324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831652532 meters 0.13166716015908467 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99977053e-01 -2.58468998e-03 -6.26209055e-03 -4.54928503e+00] [ 2.61424950e-03 9.99985459e-01 4.71681256e-03 -5.80052184e+00] [ 6.24980800e-03 -4.73307498e-03 9.99969268e-01 5.31417207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861652532 meters 0.1453245022496694 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99974809e-01 -2.71820061e-03 -6.55682408e-03 -4.54825867e+00] [ 2.75000962e-03 9.99984471e-01 4.84715632e-03 -5.80166518e+00] [ 6.54354671e-03 -4.86506554e-03 9.99966756e-01 5.31035524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891652532 meters 0.14296737483889785 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99975021e-01 -2.73553065e-03 -6.51723822e-03 -4.54815808e+00] [ 2.76683601e-03 9.99984656e-01 4.79930693e-03 -5.80174789e+00] [ 6.50400957e-03 -4.81721918e-03 9.99967246e-01 5.30673627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921652531999996 meters 0.1421445398270665 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99975348e-01 -2.89521363e-03 -6.39690915e-03 -4.54818887e+00] [ 2.92343406e-03 9.99986017e-01 4.40663515e-03 -5.80064878e+00] [ 6.38406156e-03 -4.42522746e-03 9.99969830e-01 5.30168128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951652532 meters 0.14356999188853492 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99978832e-01 -3.06808019e-03 -5.73784261e-03 -4.54932531e+00] [ 3.08725788e-03 9.99989668e-01 3.33645162e-03 -5.79714760e+00] [ 5.72754682e-03 -3.35409519e-03 9.99977972e-01 5.29022160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981652532 meters 0.14356999188853492 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99978832e-01 -3.06808019e-03 -5.73784261e-03 -4.54932531e+00] [ 3.08725788e-03 9.99989668e-01 3.33645162e-03 -5.79714760e+00] [ 5.72754682e-03 -3.35409519e-03 9.99977972e-01 5.29022160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011652532 meters 0.14118358619604698 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99978981e-01 -3.09156433e-03 -5.69912341e-03 -4.54942883e+00] [ 3.11008985e-03 9.99989900e-01 3.24459911e-03 -5.79686154e+00] [ 5.68903496e-03 -3.26225569e-03 9.99978496e-01 5.29020820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041652532 meters 0.14189847424153887 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99979379e-01 -2.85458920e-03 -5.75259966e-03 -4.54971814e+00] [ 2.87575173e-03 9.99989116e-01 3.67386986e-03 -5.79790684e+00] [ 5.74204966e-03 -3.69033715e-03 9.99976705e-01 5.29762039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071652532 meters 0.14181045623265245 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99981023e-01 -2.56651245e-03 -5.60058537e-03 -4.55052707e+00] [ 2.58881211e-03 9.99988737e-01 3.97805456e-03 -5.79839402e+00] [ 5.59031256e-03 -3.99247793e-03 9.99976404e-01 5.30426417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101652531999996 meters 0.14554961153344845 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99981034e-01 -2.55968138e-03 -5.60168476e-03 -4.55065512e+00] [ 2.58162681e-03 9.99989008e-01 3.91393027e-03 -5.79817185e+00] [ 5.59160477e-03 -3.92831750e-03 9.99976651e-01 5.30618320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131652532 meters 0.1438720375691615 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.80, Z:0.53 [[ 9.99981041e-01 -2.81818540e-03 -5.47497430e-03 -4.55066196e+00] [ 2.83605924e-03 9.99990666e-01 3.25962665e-03 -5.79621025e+00] [ 5.46573696e-03 -3.27509220e-03 9.99979700e-01 5.29983241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161652532 meters 0.14558686181964392 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99983145e-01 -2.93396012e-03 -5.01007244e-03 -4.55159437e+00] [ 2.94645679e-03 9.99992562e-01 2.48875276e-03 -5.79336998e+00] [ 5.00273328e-03 -2.50347277e-03 9.99984353e-01 5.29380059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191652532 meters 0.14453343603985216 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99989394e-01 1.48953323e-03 -4.35823042e-03 -4.55357983e+00] [-1.46288826e-03 9.99980261e-01 6.11052840e-03 -5.78946213e+00] [ 4.36724622e-03 -6.10408798e-03 9.99971833e-01 5.29751611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221652532 meters 0.154782392181682 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990008e-01 1.24694112e-03 -4.29281399e-03 -4.55358628e+00] [-1.22290320e-03 9.99983585e-01 5.59765102e-03 -5.78779569e+00] [ 4.29972346e-03 -5.59234539e-03 9.99975119e-01 5.29447530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251652532 meters 0.1572523943997774 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990533e-01 1.24845558e-03 -4.16826035e-03 -4.55403028e+00] [-1.22566872e-03 9.99984317e-01 5.46483981e-03 -5.78713979e+00] [ 4.17501758e-03 -5.45967917e-03 9.99976380e-01 5.29659304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281652532 meters 0.14841024486216212 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99991081e-01 1.56638894e-03 -3.92218227e-03 -4.55522265e+00] [-1.54379886e-03 9.99982242e-01 5.75598649e-03 -5.78725213e+00] [ 3.93112873e-03 -5.74988010e-03 9.99975742e-01 5.30574772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311652532 meters 0.14956860922604287 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99991498e-01 1.65998869e-03 -3.77477339e-03 -4.55583638e+00] [-1.63821792e-03 9.99982051e-01 5.76323254e-03 -5.78700888e+00] [ 3.78427254e-03 -5.75699964e-03 9.99976268e-01 5.30990868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341652532 meters 0.1470696370336464 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99991289e-01 1.61515190e-03 -3.84867775e-03 -4.55559400e+00] [-1.59299041e-03 9.99982175e-01 5.75433280e-03 -5.78714859e+00] [ 3.85790327e-03 -5.74815177e-03 9.99976037e-01 5.30908268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371652532 meters 0.15212777183346768 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99991815e-01 1.50247898e-03 -3.75670583e-03 -4.55563730e+00] [-1.48176577e-03 9.99983720e-01 5.51037911e-03 -5.78651701e+00] [ 3.76492390e-03 -5.50476744e-03 9.99977761e-01 5.30581967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401652532 meters 0.1469694956439175 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.79, Z:0.53 [[ 9.99991798e-01 1.36348497e-03 -3.81366004e-03 -4.55521610e+00] [-1.34289231e-03 9.99984534e-01 5.39707137e-03 -5.78663345e+00] [ 3.82095989e-03 -5.39190578e-03 9.99978164e-01 5.30168733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431652532 meters 0.1479379068329795 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99991634e-01 1.34256841e-03 -3.86386871e-03 -4.55491467e+00] [-1.32138168e-03 9.99984108e-01 5.48063492e-03 -5.78732104e+00] [ 3.87116544e-03 -5.47548343e-03 9.99977516e-01 5.29929067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461652532 meters 0.14700933607370917 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990694e-01 1.20612747e-03 -4.14214302e-03 -4.55395935e+00] [-1.18302637e-03 9.99983760e-01 5.57501761e-03 -5.78837347e+00] [ 4.14879993e-03 -5.57006546e-03 9.99975881e-01 5.29603879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491652531999996 meters 0.14287666471125762 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990853e-01 1.18194009e-03 -4.11048339e-03 -4.55394587e+00] [-1.15921333e-03 9.99984054e-01 5.52696896e-03 -5.78834291e+00] [ 4.11695039e-03 -5.52215348e-03 9.99976278e-01 5.29459925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521652532 meters 0.143019861375194 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990667e-01 1.03271510e-03 -4.19524278e-03 -4.55347622e+00] [-1.01020689e-03 9.99985105e-01 5.36375667e-03 -5.78829901e+00] [ 4.20071952e-03 -5.35946854e-03 9.99976815e-01 5.29068909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551652532 meters 0.14367459130242896 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990764e-01 9.16198242e-04 -4.19908647e-03 -4.55325099e+00] [-8.94489219e-04 9.99986241e-01 5.16890487e-03 -5.78798612e+00] [ 4.20376443e-03 -5.16510109e-03 9.99977825e-01 5.28718291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581652532 meters 0.14219961598454692 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990748e-01 7.73153417e-04 -4.23165208e-03 -4.55283596e+00] [-7.51974938e-04 9.99987197e-01 5.00408280e-03 -5.78800229e+00] [ 4.23546682e-03 -5.00085440e-03 9.99978526e-01 5.28217075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611652532 meters 0.15602370673476973 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990198e-01 7.13450048e-04 -4.36984976e-03 -4.55236223e+00] [-6.91172276e-04 9.99986769e-01 5.09745386e-03 -5.78861558e+00] [ 4.37342872e-03 -5.09438357e-03 9.99977460e-01 5.28024847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641652532 meters 0.13874640568294527 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990066e-01 5.90728641e-04 -4.41796113e-03 -4.55202254e+00] [-5.68833536e-04 9.99987559e-01 4.95554524e-03 -5.78851303e+00] [ 4.42083355e-03 -4.95298293e-03 9.99977962e-01 5.27691166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671652531999996 meters 0.1454715762459632 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990314e-01 4.84910308e-04 -4.37460796e-03 -4.55195161e+00] [-4.64085860e-04 9.99988563e-01 4.76006024e-03 -5.78810241e+00] [ 4.37686613e-03 -4.75798394e-03 9.99979102e-01 5.27396020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701652532 meters 0.15224033464139536 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990862e-01 4.62383082e-04 -4.24991107e-03 -4.55216077e+00] [-4.42731502e-04 9.99989212e-01 4.62377618e-03 -5.78772308e+00] [ 4.25200318e-03 -4.62185236e-03 9.99980279e-01 5.27187228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731652532 meters 0.15715771394746653 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99990872e-01 3.23043422e-05 -4.27265424e-03 -4.55135385e+00] [-1.56001924e-05 9.99992358e-01 3.90952426e-03 -5.78637148e+00] [ 4.27274788e-03 -3.90942192e-03 9.99983230e-01 5.25882551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761652532 meters 0.14568677890127923 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.79, Z:0.53 [[ 9.99991529e-01 -1.15022290e-04 -4.11444781e-03 -4.55144667e+00] [ 1.29444880e-04 9.99993848e-01 3.50525815e-03 -5.78528191e+00] [ 4.11401932e-03 -3.50576105e-03 9.99985392e-01 5.25303751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791652532 meters 0.15934688988093407 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99992466e-01 -2.65642349e-04 -3.87270080e-03 -4.55182889e+00] [ 2.77184680e-04 9.99995521e-01 2.98020255e-03 -5.78358536e+00] [ 3.87189179e-03 -2.98125355e-03 9.99988060e-01 5.24821157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821652532 meters 0.1494959050817832 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99993539e-01 -4.71572025e-04 -3.56362337e-03 -4.55232245e+00] [ 4.79612656e-04 9.99997341e-01 2.25579022e-03 -5.78104588e+00] [ 3.56255013e-03 -2.25748480e-03 9.99991106e-01 5.24198457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.851652531999996 meters 0.15239432045965814 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99994740e-01 -3.81743645e-04 -3.22099043e-03 -4.55331583e+00] [ 3.88262847e-04 9.99997877e-01 2.02359174e-03 -5.77976148e+00] [ 3.22021110e-03 -2.02483169e-03 9.99992765e-01 5.24340550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881652532 meters 0.14877894384777096 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99995773e-01 -4.12188330e-04 -2.87809323e-03 -4.55418638e+00] [ 4.16810265e-04 9.99998624e-01 1.60548668e-03 -5.77803087e+00] [ 2.87742751e-03 -1.60667952e-03 9.99994569e-01 5.24289678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911652532 meters 0.16176864120768958 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99996522e-01 -3.42764056e-04 -2.61502700e-03 -4.55513716e+00] [ 3.46518032e-04 9.99998910e-01 1.43522229e-03 -5.77671749e+00] [ 2.61453220e-03 -1.43612346e-03 9.99995551e-01 5.24699667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941652532 meters 0.16046339509470714 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99998283e-01 -1.71111014e-04 -1.84512898e-03 -4.55745271e+00] [ 1.72732858e-04 9.99999599e-01 8.78863414e-04 -5.77304645e+00] [ 1.84497786e-03 -8.79180619e-04 9.99997912e-01 5.25259398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971652532 meters 0.15553496683338533 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99998471e-01 -2.91897404e-04 -1.72439215e-03 -4.55764934e+00] [ 2.92862211e-04 9.99999801e-01 5.59279591e-04 -5.77202887e+00] [ 1.72422855e-03 -5.59783745e-04 9.99998357e-01 5.25050922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001652532 meters 0.1546500653179106 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99998720e-01 -3.09137710e-04 -1.56995562e-03 -4.55794932e+00] [ 3.09773558e-04 9.99999870e-01 4.04783600e-04 -5.77157625e+00] [ 1.56983029e-03 -4.05269413e-04 9.99998686e-01 5.24887767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031652532 meters 0.159050551820284 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99999118e-01 2.18145200e-06 -1.32851086e-03 -4.55908131e+00] [-1.19653930e-06 9.99999725e-01 7.41366283e-04 -5.77180215e+00] [ 1.32851211e-03 -7.41364040e-04 9.99998843e-01 5.25709587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061652532 meters 0.15072185981980446 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99999103e-01 2.43070433e-04 -1.31751255e-03 -4.55958871e+00] [-2.41384409e-04 9.99999152e-01 1.27971034e-03 -5.77290369e+00] [ 1.31782249e-03 -1.27939116e-03 9.99998313e-01 5.26556795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091652532 meters 0.15214911601347708 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99998864e-01 1.28565384e-04 -1.50152360e-03 -4.55889153e+00] [-1.26452352e-04 9.99999002e-01 1.40726827e-03 -5.77394905e+00] [ 1.50170303e-03 -1.40707680e-03 9.99997883e-01 5.26258909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121652532 meters 0.15736665886374582 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99998816e-01 2.34041403e-04 -1.52088995e-03 -4.55894016e+00] [-2.31450917e-04 9.99998523e-01 1.70322276e-03 -5.77495075e+00] [ 1.52128633e-03 -1.70286874e-03 9.99997393e-01 5.26475845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151652532 meters 0.14960535652794058 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.53 [[ 9.99999026e-01 2.26906564e-04 -1.37696454e-03 -4.55919452e+00] [-2.24558032e-04 9.99998520e-01 1.70550184e-03 -5.77500701e+00] [ 1.37734949e-03 -1.70519097e-03 9.99997598e-01 5.26320853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181652532 meters 0.14363624562409402 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.53 [[ 9.99999254e-01 1.46839148e-04 -1.21283804e-03 -4.55935450e+00] [-1.45019342e-04 9.99998864e-01 1.50040378e-03 -5.77455199e+00] [ 1.21305698e-03 -1.50022678e-03 9.99998139e-01 5.25899094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211652532 meters 0.15108390063324798 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.53 [[ 9.99999121e-01 2.21815258e-04 -1.30712738e-03 -4.55899305e+00] [-2.19306953e-04 9.99998135e-01 1.91877575e-03 -5.77645702e+00] [ 1.30755055e-03 -1.91848740e-03 9.99997305e-01 5.25768989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241652531999996 meters 0.14982170351595048 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.53 [[ 9.99998581e-01 1.44317890e-05 -1.68479428e-03 -4.55764615e+00] [-1.09390264e-05 9.99997851e-01 2.07310004e-03 -5.77803364e+00] [ 1.68482058e-03 -2.07307866e-03 9.99996432e-01 5.25213548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271652532 meters 0.14682122642028594 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99997509e-01 -4.10112968e-04 -2.19395825e-03 -4.55555011e+00] [ 4.14742872e-04 9.99997687e-01 2.11025889e-03 -5.78000466e+00] [ 2.19308773e-03 -2.11116357e-03 9.99995367e-01 5.23979843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301652532 meters 0.1455803038580292 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99996962e-01 -6.65897622e-04 -2.37341694e-03 -4.55452560e+00] [ 6.70563689e-04 9.99997843e-01 1.96571698e-03 -5.78047715e+00] [ 2.37210285e-03 -1.96730254e-03 9.99995251e-01 5.23089916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331652532 meters 0.1446483067306768 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99996888e-01 -8.56272104e-04 -2.34318680e-03 -4.55406879e+00] [ 8.60230639e-04 9.99998204e-01 1.68889463e-03 -5.78026513e+00] [ 2.34173643e-03 -1.69090506e-03 9.99995829e-01 5.22203397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361652532 meters 0.1469400372376951 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99997029e-01 -9.60202965e-04 -2.24046818e-03 -4.55405465e+00] [ 9.63549004e-04 9.99998421e-01 1.49285405e-03 -5.77985933e+00] [ 2.23903120e-03 -1.49500841e-03 9.99996376e-01 5.21723151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391652532 meters 0.14724176001110462 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99997184e-01 -1.06026725e-03 -2.12324125e-03 -4.55412920e+00] [ 1.06296385e-03 9.99998629e-01 1.26931272e-03 -5.77917790e+00] [ 2.12189253e-03 -1.27156608e-03 9.99996940e-01 5.21308795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421652531999996 meters 0.14817298689070166 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.78, Z:0.52 [[ 9.99997617e-01 -8.92696003e-04 -1.99216503e-03 -4.55469464e+00] [ 8.95610157e-04 9.99998530e-01 1.46239539e-03 -5.77946779e+00] [ 1.99085663e-03 -1.46417611e-03 9.99996946e-01 5.21666682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451652532 meters 0.13961676771268336 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99997853e-01 -7.35531652e-04 -1.93732433e-03 -4.55508823e+00] [ 7.38866189e-04 9.99998246e-01 1.72105454e-03 -5.78006858e+00] [ 1.93605504e-03 -1.72248227e-03 9.99996642e-01 5.22121926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481652532 meters 0.14371571140585826 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99998026e-01 -6.38542909e-04 -1.88171742e-03 -4.55528966e+00] [ 6.42123551e-04 9.99997983e-01 1.90286950e-03 -5.78077707e+00] [ 1.88049856e-03 -1.90407404e-03 9.99996419e-01 5.22262966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511652532 meters 0.14697095428256493 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99998285e-01 -3.02181431e-04 -1.82705326e-03 -4.55599983e+00] [ 3.06665403e-04 9.99996941e-01 2.45442795e-03 -5.78194477e+00] [ 1.82630599e-03 -2.45498403e-03 9.99995319e-01 5.23208274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541652532 meters 0.1427047185027755 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99998491e-01 -6.04210235e-04 -1.62889532e-03 -4.55597362e+00] [ 6.07141747e-04 9.99998196e-01 1.79979997e-03 -5.78017077e+00] [ 1.62780492e-03 -1.80078622e-03 9.99997054e-01 5.22293978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571652532 meters 0.14536439345953447 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99998747e-01 -7.57165670e-04 -1.38995559e-03 -4.55627108e+00] [ 7.59043874e-04 9.99998799e-01 1.35123951e-03 -5.77877931e+00] [ 1.38893081e-03 -1.35229286e-03 9.99998121e-01 5.21731796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601652531999996 meters 0.1456428714863508 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99998835e-01 -9.31683701e-04 -1.20879380e-03 -4.55631402e+00] [ 9.32816825e-04 9.99999126e-01 9.37175101e-04 -5.77774932e+00] [ 1.20791959e-03 -9.38301593e-04 9.99998830e-01 5.21005649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631652532 meters 0.14305102088466742 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99999010e-01 -1.09113826e-03 -8.88877453e-04 -4.55670084e+00] [ 1.09150204e-03 9.99999321e-01 4.08874676e-04 -5.77623328e+00] [ 8.88430710e-04 -4.09844483e-04 9.99999521e-01 5.20276023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661652532 meters 0.14362307423122178 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99999132e-01 -9.70059109e-04 -8.91932416e-04 -4.55688007e+00] [ 9.70622976e-04 9.99999329e-01 6.31970849e-04 -5.77685442e+00] [ 8.91318769e-04 -6.32836031e-04 9.99999403e-01 5.20628177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691652532 meters 0.14842158734038252 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99999262e-01 -8.51175727e-04 -8.66417300e-04 -4.55703341e+00] [ 8.51903155e-04 9.99999285e-01 8.39558011e-04 -5.77758072e+00] [ 8.65702069e-04 -8.40295495e-04 9.99999272e-01 5.20833282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721652532 meters 0.1472581256336327 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99999481e-01 -6.41552527e-04 -7.90884425e-04 -4.55755747e+00] [ 6.42456160e-04 9.99999141e-01 1.14283650e-03 -5.77817835e+00] [ 7.90150556e-04 -1.14334401e-03 9.99999034e-01 5.21403623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751652532 meters 0.14943639108031403 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.78, Z:0.52 [[ 9.99999629e-01 -7.26201646e-04 -4.63687203e-04 -4.55825862e+00] [ 7.26455792e-04 9.99999586e-01 5.48164652e-04 -5.77604995e+00] [ 4.63288933e-04 -5.48501297e-04 9.99999742e-01 5.21133868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781652532 meters 0.14831221842161346 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99999473e-01 -1.00845026e-03 -1.91295328e-04 -4.55846077e+00] [ 1.00840354e-03 9.99999462e-01 -2.44177224e-04 -5.77377247e+00] [ 1.91541466e-04 2.43984193e-04 9.99999952e-01 5.20240087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811652532 meters 0.14963313952031396 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99999306e-01 -1.17534345e-03 -8.64546554e-05 -4.55855409e+00] [ 1.17528564e-03 9.99999088e-01 -6.65697442e-04 -5.77239104e+00] [ 8.72369996e-05 6.65595370e-04 9.99999775e-01 5.19870072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841652532 meters 0.15174965609711136 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99999408e-01 -7.73292759e-04 7.65210636e-04 -4.56114511e+00] [ 7.74052748e-04 9.99999207e-01 -9.93378737e-04 -5.76913351e+00] [-7.64441857e-04 9.93970462e-04 9.99999214e-01 5.20558321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871652532 meters 0.15174965609711136 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99999408e-01 -7.73292759e-04 7.65210636e-04 -4.56114511e+00] [ 7.74052748e-04 9.99999207e-01 -9.93378737e-04 -5.76913351e+00] [-7.64441857e-04 9.93970462e-04 9.99999214e-01 5.20558321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901652532 meters 0.15643117011992674 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99999057e-01 -6.11293714e-04 1.22993484e-03 -4.56261165e+00] [ 6.12792390e-04 9.99999070e-01 -1.21849306e-03 -5.76737216e+00] [-1.22918884e-03 1.21924561e-03 9.99998501e-01 5.21000527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931652532 meters 0.1682440231146208 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99998851e-01 -3.54965390e-04 1.47358034e-03 -4.56384451e+00] [ 3.56514537e-04 9.99999384e-01 -1.05115135e-03 -5.76683057e+00] [-1.47320631e-03 1.05167549e-03 9.99998362e-01 5.21974618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961652532 meters 0.15419026559878474 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998419e-01 -1.07591181e-04 1.77495741e-03 -4.56525099e+00] [ 1.09270341e-04 9.99999547e-01 -9.45958660e-04 -5.76598837e+00] [-1.77485483e-03 9.46151115e-04 9.99997977e-01 5.23024668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991652531999996 meters 0.15352186317577227 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99997644e-01 4.07136921e-04 2.13209983e-03 -4.56713899e+00] [-4.06141397e-04 9.99999808e-01 -4.67334047e-04 -5.76608452e+00] [-2.13228969e-03 4.66467012e-04 9.99997618e-01 5.24789284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02165253199999 meters 0.15497765788511003 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99997293e-01 6.15700370e-04 2.24366556e-03 -4.56776266e+00] [-6.15361459e-04 9.99999799e-01 -1.51739907e-04 -5.76665559e+00] [-2.24375854e-03 1.50358831e-04 9.99997471e-01 5.25401031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05165253199999 meters 0.1562475979325716 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99997229e-01 6.73158941e-04 2.25568534e-03 -4.56780966e+00] [-6.73182080e-04 9.99999773e-01 9.49901730e-06 -5.76724447e+00] [-2.25567843e-03 -1.10174779e-05 9.99997456e-01 5.25485866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08165253199999 meters 0.1606765286846327 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998103e-01 4.97768729e-04 1.88322216e-03 -4.56647060e+00] [-4.98309922e-04 9.99999835e-01 2.86917989e-04 -5.76927212e+00] [-1.88307903e-03 -2.87855873e-04 9.99998186e-01 5.24965501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111652532 meters 0.1614727849829813 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998239e-01 5.96804075e-04 1.77953357e-03 -4.56615658e+00] [-5.98028836e-04 9.99999585e-01 6.87795642e-04 -5.77092948e+00] [-1.77912235e-03 -6.88858643e-04 9.99998180e-01 5.24982728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141652532 meters 0.1574900105222814 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998469e-01 6.52017533e-04 1.62388835e-03 -4.56563006e+00] [-6.53674671e-04 9.99999266e-01 1.02015368e-03 -5.77248743e+00] [-1.62322200e-03 -1.02121361e-03 9.99998161e-01 5.24859828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171652532 meters 0.1563605580336882 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998612e-01 6.20454858e-04 1.54635409e-03 -4.56516455e+00] [-6.22181404e-04 9.99999183e-01 1.11629613e-03 -5.77334280e+00] [-1.54566022e-03 -1.11725669e-03 9.99998181e-01 5.24477780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201652532 meters 0.15422259581985895 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99998787e-01 6.26926067e-04 1.42582194e-03 -4.56464919e+00] [-6.28803525e-04 9.99998935e-01 1.31668825e-03 -5.77455296e+00] [-1.42499496e-03 -1.31758321e-03 9.99998117e-01 5.24230668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231652532 meters 0.15513080172966962 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99998760e-01 6.59963679e-04 1.42981017e-03 -4.56471207e+00] [-6.61965217e-04 9.99998801e-01 1.39984206e-03 -5.77482912e+00] [-1.42888461e-03 -1.40078681e-03 9.99997998e-01 5.24359577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26165253199999 meters 0.1571271528101582 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.77, Z:0.52 [[ 9.99998805e-01 5.08810930e-04 1.46005363e-03 -4.56459272e+00] [-5.10444133e-04 9.99999244e-01 1.11843696e-03 -5.77415661e+00] [-1.45948346e-03 -1.11918089e-03 9.99998309e-01 5.24034221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29165253199999 meters 0.1549262343553322 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99998473e-01 3.59530051e-04 1.71009768e-03 -4.56508795e+00] [-3.60457794e-04 9.99999788e-01 5.42231643e-04 -5.77201109e+00] [-1.70990237e-03 -5.42847233e-04 9.99998391e-01 5.23709507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32165253199999 meters 0.15916990161211111 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99997789e-01 4.59639918e-04 2.05216971e-03 -4.56615268e+00] [-4.60356363e-04 9.99999833e-01 3.48657253e-04 -5.77072123e+00] [-2.05200911e-03 -3.49601211e-04 9.99997834e-01 5.23984001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35165253199999 meters 0.15222296029898497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99997297e-01 4.30220386e-04 2.28496193e-03 -4.56679486e+00] [-4.30301741e-04 9.99999907e-01 3.51128547e-05 -5.76930453e+00] [-2.28494661e-03 -3.60959828e-05 9.99997389e-01 5.23994520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38165253199999 meters 0.15919421900539077 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99996919e-01 2.62251817e-04 2.46852117e-03 -4.56714370e+00] [-2.61029312e-04 9.99999843e-01 -4.95546817e-04 -5.76744127e+00] [-2.46865074e-03 4.94900934e-04 9.99996830e-01 5.23732612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41165253199999 meters 0.1689298949571593 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99996084e-01 2.92243435e-04 2.78328216e-03 -4.56810260e+00] [-2.90066468e-04 9.99999652e-01 -7.82529771e-04 -5.76582419e+00] [-2.78350988e-03 7.81719370e-04 9.99995820e-01 5.23952417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44165253199999 meters 0.16409035163478838 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.52 [[ 9.99996120e-01 2.70786132e-04 2.77252265e-03 -4.56807598e+00] [-2.68488577e-04 9.99999620e-01 -8.29026173e-04 -5.76566374e+00] [-2.77274609e-03 8.28278566e-04 9.99995813e-01 5.23949691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471652532 meters 0.16973840772582716 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.52 [[ 9.99995959e-01 8.86479702e-05 2.84157362e-03 -4.56803324e+00] [-8.51317920e-05 9.99999231e-01 -1.23750234e-03 -5.76450433e+00] [-2.84168113e-03 1.23725543e-03 9.99995197e-01 5.23561125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501652532 meters 0.16430339115719314 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.52 [[ 9.99995377e-01 2.36285213e-04 3.03145135e-03 -4.56893138e+00] [-2.32668312e-04 9.99999261e-01 -1.19342265e-03 -5.76384900e+00] [-3.03173109e-03 1.19271181e-03 9.99994693e-01 5.24187082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531652532 meters 0.16595433376959445 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.52 [[ 9.99994106e-01 2.72030361e-04 3.42250188e-03 -4.57011722e+00] [-2.66648118e-04 9.99998727e-01 -1.57296308e-03 -5.76167299e+00] [-3.42292542e-03 1.57204120e-03 9.99992906e-01 5.24435780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561652532 meters 0.1689996988408097 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.52 [[ 9.99993901e-01 3.06347018e-04 3.47904500e-03 -4.57037151e+00] [-3.00910120e-04 9.99998733e-01 -1.56317165e-03 -5.76152936e+00] [-3.47951946e-03 1.56211524e-03 9.99992726e-01 5.24624145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591652532 meters 0.16531414913644074 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99993655e-01 4.52105498e-04 3.53349247e-03 -4.57084316e+00] [-4.47183040e-04 9.99998929e-01 -1.39375185e-03 -5.76157627e+00] [-3.53411881e-03 1.39216289e-03 9.99992786e-01 5.25174346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621652532 meters 0.16183924458124718 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99991783e-01 4.97859626e-04 4.02326665e-03 -4.57243649e+00] [-4.90378336e-04 9.99998149e-01 -1.86027916e-03 -5.75852826e+00] [-4.02418537e-03 1.85829095e-03 9.99990176e-01 5.25649031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65165253199999 meters 0.1623216420990294 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99991204e-01 3.45024979e-04 4.18006462e-03 -4.57274723e+00] [-3.35339549e-04 9.99997258e-01 -2.31753209e-03 -5.75687737e+00] [-4.18085276e-03 2.31610997e-03 9.99988578e-01 5.25429705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68165253199999 meters 0.1603350585871517 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99990558e-01 5.38662706e-04 4.31195392e-03 -4.57351875e+00] [-5.29588818e-04 9.99997644e-01 -2.10522167e-03 -5.75688067e+00] [-4.31307777e-03 2.10291823e-03 9.99988487e-01 5.26143688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71165253199999 meters 0.1629755821763365 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99990278e-01 7.75003591e-04 4.34094908e-03 -4.57410319e+00] [-7.67486202e-04 9.99998204e-01 -1.73313677e-03 -5.75741624e+00] [-4.34228447e-03 1.72978830e-03 9.99989076e-01 5.27012807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74165253199999 meters 0.1650483619874418 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987156e-01 1.07260407e-03 4.95358691e-03 -4.57617801e+00] [-1.06318878e-03 9.99997624e-01 -1.90294453e-03 -5.75512047e+00] [-4.95561624e-03 1.89765349e-03 9.99985920e-01 5.27959134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77165253199999 meters 0.1687951425539542 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99986591e-01 1.18033259e-03 5.04228197e-03 -4.57678863e+00] [-1.17104972e-03 9.99997615e-01 -1.84356189e-03 -5.75463263e+00] [-5.04444596e-03 1.83763240e-03 9.99985588e-01 5.28543157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80165253199999 meters 0.1784911151167149 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99986528e-01 1.00457531e-03 5.09257031e-03 -4.57664220e+00] [-9.93356244e-04 9.99997075e-01 -2.20507787e-03 -5.75377793e+00] [-5.09477058e-03 2.19998943e-03 9.99984602e-01 5.28050969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83165253199999 meters 0.16835034634894627 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99985674e-01 1.16219975e-03 5.22512681e-03 -4.57730626e+00] [-1.15137792e-03 9.99997187e-01 -2.07364284e-03 -5.75360288e+00] [-5.22752210e-03 2.06759704e-03 9.99984199e-01 5.28571070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861652532 meters 0.1723983540629724 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99984802e-01 1.16393335e-03 5.38905776e-03 -4.57786371e+00] [-1.15200359e-03 9.99996881e-01 -2.21627411e-03 -5.75285876e+00] [-5.39162054e-03 2.21003222e-03 9.99983023e-01 5.28837621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891652532 meters 0.16560819194210594 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99984930e-01 1.46724019e-03 5.29036378e-03 -4.57817325e+00] [-1.45876131e-03 9.99997646e-01 -1.60620632e-03 -5.75427764e+00] [-5.29270801e-03 1.59846474e-03 9.99984716e-01 5.29855439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921652532 meters 0.1823529195568317 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985073e-01 1.57192608e-03 5.23278529e-03 -4.57810268e+00] [-1.56487007e-03 9.99997861e-01 -1.35224526e-03 -5.75520824e+00] [-5.23489973e-03 1.34403644e-03 9.99985395e-01 5.30060138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951652532 meters 0.16756966452240793 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987141e-01 1.56603075e-03 4.82341211e-03 -4.57733990e+00] [-1.56148736e-03 9.99998334e-01 -9.45568179e-04 -5.75650629e+00] [-4.82488486e-03 9.38024323e-04 9.99987920e-01 5.30508237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981652532 meters 0.18390697826943483 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987493e-01 1.36564641e-03 4.81132883e-03 -4.57709204e+00] [-1.35944625e-03 9.99998242e-01 -1.29169175e-03 -5.75556491e+00] [-4.81308436e-03 1.28513485e-03 9.99987591e-01 5.30083841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01165253199999 meters 0.16898738883726216 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99986508e-01 1.32419012e-03 5.02292286e-03 -4.57759780e+00] [-1.31631441e-03 9.99997900e-01 -1.57093622e-03 -5.75430202e+00] [-5.02499253e-03 1.56430328e-03 9.99986151e-01 5.29941557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04165253199999 meters 0.1684854329743974 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99985323e-01 1.22060092e-03 5.27865930e-03 -4.57797093e+00] [-1.21028907e-03 9.99997354e-01 -1.95625232e-03 -5.75309987e+00] [-5.28103313e-03 1.94983491e-03 9.99984154e-01 5.29434041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07165253199999 meters 0.18617621348929045 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99986760e-01 1.31462216e-03 4.97516604e-03 -4.57732738e+00] [-1.30718436e-03 9.99998024e-01 -1.49794161e-03 -5.75482513e+00] [-4.97712544e-03 1.49141831e-03 9.99986502e-01 5.29673647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10165253199999 meters 0.18473323035592965 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986807e-01 1.46998172e-03 4.92193251e-03 -4.57744775e+00] [-1.46421442e-03 9.99998238e-01 -1.17515396e-03 -5.75558461e+00] [-4.92365129e-03 1.16793169e-03 9.99987197e-01 5.30108065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13165253199999 meters 0.1836570118661711 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986517e-01 1.44923517e-03 4.98657103e-03 -4.57766740e+00] [-1.44286548e-03 9.99998139e-01 -1.28072846e-03 -5.75504933e+00] [-4.98841782e-03 1.27351624e-03 9.99986747e-01 5.30156646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16165253199999 meters 0.18143778839765676 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.75, Z:0.53 [[ 9.99986616e-01 1.34560454e-03 4.99565136e-03 -4.57757489e+00] [-1.33837086e-03 9.99998052e-01 -1.45105663e-03 -5.75454445e+00] [-4.99759417e-03 1.44435117e-03 9.99986469e-01 5.29935915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19165253199999 meters 0.1798064017845867 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987056e-01 1.45779551e-03 4.87472190e-03 -4.57741541e+00] [-1.45237817e-03 9.99998324e-01 -1.11466711e-03 -5.75562290e+00] [-4.87633869e-03 1.10757274e-03 9.99987497e-01 5.30227899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221652532 meters 0.1775199099124108 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987526e-01 1.58918812e-03 4.73528089e-03 -4.57719026e+00] [-1.58573153e-03 9.99998474e-01 -7.33630626e-04 -5.75690531e+00] [-4.73643954e-03 7.26112590e-04 9.99988519e-01 5.30505089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251652532 meters 0.17373878593732184 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99989727e-01 1.59268815e-03 4.24375139e-03 -4.57578775e+00] [-1.59200122e-03 9.99998719e-01 -1.65241502e-04 -5.76013009e+00] [-4.24400913e-03 1.58483747e-04 9.99990982e-01 5.30367684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281652532 meters 0.17179244259842905 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99990377e-01 1.60641718e-03 4.08219788e-03 -4.57534273e+00] [-1.60655611e-03 9.99998709e-01 3.07544881e-05 -5.76102288e+00] [-4.08214320e-03 -3.73124721e-05 9.99991667e-01 5.30347983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311652532 meters 0.1700496978566649 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99990704e-01 1.51293234e-03 4.03760412e-03 -4.57485411e+00] [-1.51285194e-03 9.99998855e-01 -2.29656079e-05 -5.76144320e+00] [-4.03763424e-03 1.68570972e-05 9.99991849e-01 5.29743396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341652532 meters 0.16752364055267704 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99991459e-01 1.41686247e-03 3.88260024e-03 -4.57420624e+00] [-1.41702348e-03 9.99998995e-01 3.87215940e-05 -5.76216081e+00] [-3.88254148e-03 -4.42229990e-05 9.99992462e-01 5.29356770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371652532 meters 0.1649850386405938 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99992189e-01 1.31694876e-03 3.72659774e-03 -4.57356087e+00] [-1.31713018e-03 9.99999132e-01 4.62273076e-05 -5.76271547e+00] [-3.72653362e-03 -5.11353608e-05 9.99993055e-01 5.28967706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40165253199999 meters 0.19938309537227955 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992731e-01 1.51197291e-03 3.50040786e-03 -4.57309090e+00] [-1.51460806e-03 9.99998572e-01 7.50282957e-04 -5.76548668e+00] [-3.49926845e-03 -7.55579249e-04 9.99993592e-01 5.29324768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43165253199999 meters 0.199165270546497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992364e-01 1.66241319e-03 3.53678079e-03 -4.57325529e+00] [-1.66615446e-03 9.99998055e-01 1.05513615e-03 -5.76649814e+00] [-3.53501984e-03 -1.06102092e-03 9.99993189e-01 5.29536448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46165253199999 meters 0.16034209018129547 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99991864e-01 1.87006052e-03 3.57419595e-03 -4.57350078e+00] [-1.87543348e-03 9.99997116e-01 1.50050217e-03 -5.76789853e+00] [-3.57137961e-03 -1.50719313e-03 9.99992487e-01 5.29900323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49165253199999 meters 0.15579750540019593 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99994211e-01 1.65374133e-03 2.97369175e-03 -4.57155170e+00] [-1.65923931e-03 9.99996917e-01 1.84735758e-03 -5.77071240e+00] [-2.97062753e-03 -1.85228096e-03 9.99993872e-01 5.29268956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52165253199999 meters 0.19168709706455414 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993705e-01 1.72171733e-03 3.10267349e-03 -4.57183833e+00] [-1.72768756e-03 9.99996659e-01 1.92256781e-03 -5.77097558e+00] [-3.09935301e-03 -1.92791616e-03 9.99993339e-01 5.29235049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55165253199999 meters 0.1539286342555924 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99994273e-01 1.73321650e-03 2.90703160e-03 -4.57119950e+00] [-1.73974430e-03 9.99995968e-01 2.24449697e-03 -5.77258546e+00] [-2.90312968e-03 -2.24954160e-03 9.99993256e-01 5.29101280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58165253199999 meters 0.1485529886793826 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99995655e-01 1.60543420e-03 2.47220037e-03 -4.56967212e+00] [-1.61187882e-03 9.99995303e-01 2.60705490e-03 -5.77520710e+00] [-2.46800330e-03 -2.61102846e-03 9.99993546e-01 5.28518748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611652532 meters 0.14669544330958578 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996453e-01 1.53952146e-03 2.17344564e-03 -4.56877695e+00] [-1.54581692e-03 9.99994606e-01 2.89783228e-03 -5.77680978e+00] [-2.16897264e-03 -2.90118175e-03 9.99993439e-01 5.28366699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641652532 meters 0.1774865696896373 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996803e-01 1.52237222e-03 2.01895468e-03 -4.56832213e+00] [-1.52855696e-03 9.99994134e-01 3.06534084e-03 -5.77766563e+00] [-2.01427624e-03 -3.06841712e-03 9.99993264e-01 5.28314287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671652532 meters 0.17704249194021415 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996528e-01 1.44111994e-03 2.20629028e-03 -4.56861637e+00] [-1.44723612e-03 9.99995108e-01 2.77307437e-03 -5.77680400e+00] [-2.20228315e-03 -2.77625776e-03 9.99993721e-01 5.27977057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701652532 meters 0.14381526540139417 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996045e-01 1.30490487e-03 2.49139766e-03 -4.56915778e+00] [-1.31060983e-03 9.99996520e-01 2.28960451e-03 -5.77512454e+00] [-2.48840128e-03 -2.29286070e-03 9.99994275e-01 5.27600388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731652532 meters 0.1738042823880684 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996681e-01 1.21592807e-03 2.27126844e-03 -4.56859363e+00] [-1.22134656e-03 9.99996408e-01 2.38580137e-03 -5.77569659e+00] [-2.26835932e-03 -2.38856746e-03 9.99994575e-01 5.27638820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76165253199999 meters 0.17461502434657059 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996007e-01 1.42704420e-03 2.43934884e-03 -4.56923837e+00] [-1.43346571e-03 9.99995507e-01 2.63275047e-03 -5.77620295e+00] [-2.43558083e-03 -2.63623668e-03 9.99993559e-01 5.28053207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79165253199999 meters 0.17461502434657059 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996007e-01 1.42704420e-03 2.43934884e-03 -4.56923837e+00] [-1.43346571e-03 9.99995507e-01 2.63275047e-03 -5.77620295e+00] [-2.43558083e-03 -2.63623668e-03 9.99993559e-01 5.28053207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82165253199999 meters 0.17303490725647505 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99995564e-01 1.51133379e-03 2.56664638e-03 -4.56955615e+00] [-1.51838997e-03 9.99995067e-01 2.74946443e-03 -5.77666640e+00] [-2.56247836e-03 -2.75334941e-03 9.99992926e-01 5.28115908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85165253199999 meters 0.17082810806257115 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99996661e-01 1.12188703e-03 2.32780346e-03 -4.56820644e+00] [-1.12722075e-03 9.99996740e-01 2.29126296e-03 -5.77646431e+00] [-2.32522534e-03 -2.29387926e-03 9.99994666e-01 5.26819018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88165253199999 meters 0.1719363503372189 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99996633e-01 8.81098280e-04 2.44076696e-03 -4.56813945e+00] [-8.85345320e-04 9.99998095e-01 1.73950983e-03 -5.77498240e+00] [-2.43922963e-03 -1.74166489e-03 9.99995508e-01 5.26154335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91165253199999 meters 0.17055443483412194 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99996448e-01 8.59040089e-04 2.52296899e-03 -4.56828095e+00] [-8.63150635e-04 9.99998301e-01 1.62861292e-03 -5.77460687e+00] [-2.52156566e-03 -1.63078484e-03 9.99995491e-01 5.26002158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94165253199999 meters 0.16977114724846737 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99996131e-01 8.05451081e-04 2.66261027e-03 -4.56867283e+00] [-8.09155190e-04 9.99998706e-01 1.39037260e-03 -5.77359551e+00] [-2.66148695e-03 -1.39252168e-03 9.99995489e-01 5.26019233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971652532 meters 0.17015177685073635 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99995822e-01 7.34720833e-04 2.79562222e-03 -4.56906027e+00] [-7.37778562e-04 9.99999131e-01 1.09288183e-03 -5.77236776e+00] [-2.79481683e-03 -1.09493981e-03 9.99995495e-01 5.26045369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001652532 meters 0.16867355630514294 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99994202e-01 6.92458078e-04 3.33409296e-03 -4.57051192e+00] [-6.93723000e-04 9.99999688e-01 3.78248520e-04 -5.76895241e+00] [-3.33383000e-03 -3.80559264e-04 9.99994370e-01 5.26152226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031652532 meters 0.16804971338048266 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993347e-01 6.93981803e-04 3.58110718e-03 -4.57124940e+00] [-6.94488487e-04 9.99999749e-01 1.40246430e-04 -5.76765542e+00] [-3.58100896e-03 -1.42732535e-04 9.99993578e-01 5.26250025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061652532 meters 0.17046155619072706 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992262e-01 5.53624456e-04 3.89480986e-03 -4.57206887e+00] [-5.51824842e-04 9.99999741e-01 -4.63113950e-04 -5.76504228e+00] [-3.89506524e-03 4.60961113e-04 9.99992308e-01 5.26180248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091652532 meters 0.1700239600045428 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99990101e-01 6.92880947e-04 4.39509626e-03 -4.57366251e+00] [-6.89460569e-04 9.99999458e-01 -7.79693446e-04 -5.76277482e+00] [-4.39563412e-03 7.76655482e-04 9.99990038e-01 5.26668573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121652532 meters 0.1696668157200942 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99988008e-01 7.77983051e-04 4.83516886e-03 -4.57508911e+00] [-7.72231994e-04 9.99998992e-01 -1.19117530e-03 -5.76039692e+00] [-4.83609070e-03 1.18742714e-03 9.99987601e-01 5.27165440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15165253199999 meters 0.16937493000551518 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986746e-01 8.26524014e-04 5.08170097e-03 -4.57584653e+00] [-8.19652414e-04 9.99998747e-01 -1.35415835e-03 -5.75940587e+00] [-5.08281385e-03 1.34997517e-03 9.99986171e-01 5.27365210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18165253199999 meters 0.17000337913672814 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985697e-01 7.56327238e-04 5.29470080e-03 -4.57640081e+00] [-7.47256861e-04 9.99998250e-01 -1.71487344e-03 -5.75791451e+00] [-5.29598854e-03 1.71089241e-03 9.99984513e-01 5.27341782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21165253199999 meters 0.17011458452282846 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983791e-01 6.92587431e-04 5.65129861e-03 -4.57738933e+00] [-6.79985495e-04 9.99997279e-01 -2.23153546e-03 -5.75563482e+00] [-5.65282877e-03 2.22765649e-03 9.99981541e-01 5.27532667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24165253199999 meters 0.16723406114811962 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983169e-01 6.85238033e-04 5.76134055e-03 -4.57762911e+00] [-6.72022716e-04 9.99997140e-01 -2.29541509e-03 -5.75543690e+00] [-5.76289698e-03 2.29150470e-03 9.99980769e-01 5.27491144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27165253199999 meters 0.172400263886619 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982821e-01 8.56121961e-04 5.79866537e-03 -4.57808868e+00] [-8.44495295e-04 9.99997629e-01 -2.00721070e-03 -5.75582743e+00] [-5.80037004e-03 2.00227927e-03 9.99981173e-01 5.28100745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30165253199999 meters 0.17186668909589278 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982328e-01 9.02131213e-04 5.87624912e-03 -4.57834275e+00] [-8.90563501e-04 9.99997661e-01 -1.97087283e-03 -5.75577813e+00] [-5.87801336e-03 1.96560483e-03 9.99980792e-01 5.28185574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33165253199999 meters 0.16355154149670287 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982344e-01 9.77757300e-04 5.86131754e-03 -4.57836873e+00] [-9.67554497e-04 9.99998012e-01 -1.74328422e-03 -5.75642115e+00] [-5.86301040e-03 1.73758230e-03 9.99981303e-01 5.28311790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361652532 meters 0.17029366959227482 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982277e-01 1.12100390e-03 5.84710533e-03 -4.57860723e+00] [-1.11261515e-03 9.99998347e-01 -1.43773982e-03 -5.75708395e+00] [-5.84870738e-03 1.43120876e-03 9.99981872e-01 5.28788067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391652532 meters 0.16092873100390775 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981514e-01 1.27313233e-03 5.94558204e-03 -4.57918388e+00] [-1.26575454e-03 9.99998425e-01 -1.24448343e-03 -5.75714925e+00] [-5.94715706e-03 1.23693477e-03 9.99981550e-01 5.29323094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421652532 meters 0.16140166651637586 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981387e-01 1.08241336e-03 6.00444508e-03 -4.57907749e+00] [-1.07269729e-03 9.99998111e-01 -1.62112937e-03 -5.75620022e+00] [-6.00618847e-03 1.61465825e-03 9.99980659e-01 5.28871526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451652532 meters 0.16765478927669172 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981271e-01 9.70024354e-04 6.04282969e-03 -4.57900280e+00] [-9.58741926e-04 9.99997793e-01 -1.86969416e-03 -5.75560820e+00] [-6.04463000e-03 1.86386563e-03 9.99979994e-01 5.28583653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481652532 meters 0.17245266423917757 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982140e-01 1.15153174e-03 5.86454919e-03 -4.57895234e+00] [-1.14378290e-03 9.99998469e-01 -1.32448469e-03 -5.75711333e+00] [-5.86606540e-03 1.31775326e-03 9.99981926e-01 5.29380127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51165253199999 meters 0.17245266423917757 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982140e-01 1.15153174e-03 5.86454919e-03 -4.57895234e+00] [-1.14378290e-03 9.99998469e-01 -1.32448469e-03 -5.75711333e+00] [-5.86606540e-03 1.31775326e-03 9.99981926e-01 5.29380127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54165253199999 meters 0.19243629399103515 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981914e-01 9.09813409e-04 5.94499340e-03 -4.57869877e+00] [-8.98965541e-04 9.99997927e-01 -1.82712390e-03 -5.75589302e+00] [-5.94664341e-03 1.82174651e-03 9.99980659e-01 5.28565987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57165253199999 meters 0.17036889701322383 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981858e-01 9.27679813e-04 5.95171795e-03 -4.57861505e+00] [-9.17559633e-04 9.99998129e-01 -1.70288488e-03 -5.75649466e+00] [-5.95328654e-03 1.69739293e-03 9.99980838e-01 5.28448320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60165253199999 meters 0.16150523297639274 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987030e-01 5.52668777e-04 5.06313503e-03 -4.57621923e+00] [-5.46106657e-04 9.99999009e-01 -1.29734949e-03 -5.75950317e+00] [-5.06384702e-03 1.29456765e-03 9.99986341e-01 5.28034583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63165253199999 meters 0.16301329233750508 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987424e-01 8.42532707e-04 4.94380164e-03 -4.57627999e+00] [-8.39448617e-04 9.99999452e-01 -6.25871441e-04 -5.76138649e+00] [-4.94432625e-03 6.21713503e-04 9.99987583e-01 5.28670691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66165253199999 meters 0.17823554957879742 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982893e-01 8.26653179e-04 5.79059584e-03 -4.57783646e+00] [-8.17395456e-04 9.99998384e-01 -1.60093567e-03 -5.75764034e+00] [-5.79190991e-03 1.59617507e-03 9.99981953e-01 5.27612550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69165253199999 meters 0.16540836492732452 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982844e-01 5.36997161e-04 5.83290915e-03 -4.57752760e+00] [-5.24703849e-04 9.99997639e-01 -2.10890405e-03 -5.75639256e+00] [-5.83402785e-03 2.10580732e-03 9.99980765e-01 5.26863485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721652532 meters 0.16094273856441838 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983609e-01 3.66278917e-04 5.71381320e-03 -4.57706760e+00] [-3.53085143e-04 9.99997270e-01 -2.30993937e-03 -5.75592680e+00] [-5.71464368e-03 2.30788405e-03 9.99981008e-01 5.26556219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751652532 meters 0.17320507987729722 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983524e-01 4.73671475e-04 5.72076041e-03 -4.57727301e+00] [-4.61532132e-04 9.99997640e-01 -2.12311441e-03 -5.75623051e+00] [-5.72175257e-03 2.12043912e-03 9.99981382e-01 5.26859813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781652532 meters 0.17403548892885484 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983277e-01 8.69636155e-04 5.71742297e-03 -4.57785376e+00] [-8.61837887e-04 9.99998695e-01 -1.36627044e-03 -5.75800753e+00] [-5.71860367e-03 1.36132010e-03 9.99982722e-01 5.27920926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811652532 meters 0.1706620176564118 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983155e-01 1.18569006e-03 5.68195130e-03 -4.57822378e+00] [-1.18147193e-03 9.99999024e-01 -7.45671202e-04 -5.75952733e+00] [-5.68282989e-03 7.38945574e-04 9.99983580e-01 5.28732517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841652532 meters 0.1697643856876729 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983205e-01 1.23922862e-03 5.66155585e-03 -4.57807111e+00] [-1.23595453e-03 9.99999067e-01 -5.81764205e-04 -5.76027269e+00] [-5.66227151e-03 5.74757009e-04 9.99983804e-01 5.28571747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871652532 meters 0.16701614366049236 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985184e-01 9.53847578e-04 5.35934389e-03 -4.57678380e+00] [-9.50405595e-04 9.99999341e-01 -6.44749596e-04 -5.76104419e+00] [-5.35995535e-03 6.39646493e-04 9.99985431e-01 5.27604408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90165253199999 meters 0.16564994835862812 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986301e-01 9.25671008e-04 5.15180506e-03 -4.57627145e+00] [-9.23496827e-04 9.99999484e-01 -4.24386060e-04 -5.76195928e+00] [-5.15219524e-03 4.19622571e-04 9.99986639e-01 5.27657875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93165253199999 meters 0.161809385218075 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986394e-01 1.15452437e-03 5.08706172e-03 -4.57645442e+00] [-1.15498556e-03 9.99999329e-01 8.77240826e-05 -5.76325800e+00] [-5.08695702e-03 -9.35983719e-05 9.99987057e-01 5.28271411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96165253199999 meters 0.16136997596495806 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985687e-01 1.14933077e-03 5.22544053e-03 -4.57658669e+00] [-1.14947625e-03 9.99999339e-01 2.48385766e-05 -5.76330553e+00] [-5.22540853e-03 -3.08447409e-05 9.99986347e-01 5.27932023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99165253199999 meters 0.15888256802616593 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985726e-01 1.14345913e-03 5.21927069e-03 -4.57649214e+00] [-1.14397974e-03 9.99999341e-01 9.67635675e-05 -5.76358783e+00] [-5.21915660e-03 -1.02732926e-04 9.99986375e-01 5.27762828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02165253199999 meters 0.15696309632699693 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985700e-01 9.30315055e-04 5.26632183e-03 -4.57629682e+00] [-9.28660706e-04 9.99999519e-01 -3.16574159e-04 -5.76258298e+00] [-5.26661380e-03 3.11679006e-04 9.99986083e-01 5.27201210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05165253199999 meters 0.1681231683311492 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985253e-01 1.14264466e-03 5.30919213e-03 -4.57676085e+00] [-1.14303746e-03 9.99999344e-01 7.09518430e-05 -5.76337535e+00] [-5.30910758e-03 -7.70194022e-05 9.99985904e-01 5.27825808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08165253199999 meters 0.16700720505096886 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986017e-01 1.07091997e-03 5.17860453e-03 -4.57633440e+00] [-1.07135720e-03 9.99999423e-01 8.16553531e-05 -5.76376184e+00] [-5.17851409e-03 -8.72023466e-05 9.99986588e-01 5.27709812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111652532 meters 0.1633246506278335 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.77, Z:0.53 [[ 9.99986502e-01 1.29866843e-03 5.03082895e-03 -4.57643866e+00] [-1.30195511e-03 9.99998941e-01 6.50088285e-04 -5.76540002e+00] [-5.02997938e-03 -6.56629423e-04 9.99987134e-01 5.28652685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141652532 meters 0.16688028777295047 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.77, Z:0.53 [[ 9.99986743e-01 1.28070025e-03 4.98737760e-03 -4.57633579e+00] [-1.28407262e-03 9.99998949e-01 6.73038531e-04 -5.76558308e+00] [-4.98651040e-03 -6.79433763e-04 9.99987336e-01 5.28698846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171652532 meters 0.16312578879002892 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985603e-01 1.27086529e-03 5.21325188e-03 -4.57698986e+00] [-1.27324926e-03 9.99999086e-01 4.53996235e-04 -5.76441802e+00] [-5.21267015e-03 -4.60627468e-04 9.99986308e-01 5.28804161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201652532 meters 0.1585686430075842 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985789e-01 1.02032723e-03 5.23268818e-03 -4.57683256e+00] [-1.02036362e-03 9.99999479e-01 4.28586161e-06 -5.76311774e+00] [-5.23268108e-03 -9.62504537e-06 9.99986309e-01 5.28401380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231652532 meters 0.16092947990769982 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986319e-01 6.38335825e-04 5.19175495e-03 -4.57612488e+00] [-6.35080058e-04 9.99999601e-01 -6.28727858e-04 -5.76185169e+00] [-5.19215421e-03 6.25422076e-04 9.99986325e-01 5.27311217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26165253199999 meters 0.1668463237815202 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986070e-01 7.35895950e-04 5.22668885e-03 -4.57632076e+00] [-7.33614914e-04 9.99999635e-01 -4.38324755e-04 -5.76237789e+00] [-5.22700950e-03 4.34484272e-04 9.99986245e-01 5.27516094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29165253199999 meters 0.16622496827514507 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986394e-01 9.20925578e-04 5.13448752e-03 -4.57636708e+00] [-9.21107754e-04 9.99999575e-01 3.31163680e-05 -5.76368214e+00] [-5.13445484e-03 -3.78453337e-05 9.99986818e-01 5.28040048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32165253199999 meters 0.15869535542662552 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986615e-01 9.41364976e-04 5.08765154e-03 -4.57630318e+00] [-9.42133933e-04 9.99999545e-01 1.48747427e-04 -5.76403832e+00] [-5.08750920e-03 -1.53538685e-04 9.99987047e-01 5.28148829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35165253199999 meters 0.16445691518337635 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99984873e-01 1.10527871e-03 5.38813280e-03 -4.57748390e+00] [-1.10608143e-03 9.99999378e-01 1.46002492e-04 -5.76298980e+00] [-5.38796807e-03 -1.51959997e-04 9.99985473e-01 5.28839877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38165253199999 meters 0.1646007890450116 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983649e-01 1.19034790e-03 5.59326333e-03 -4.57829666e+00] [-1.19088846e-03 9.99999287e-01 9.33139168e-05 -5.76211441e+00] [-5.59314826e-03 -9.99733438e-05 9.99984353e-01 5.29308424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41165253199999 meters 0.16441686492621108 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983821e-01 1.06553033e-03 5.58761530e-03 -4.57823767e+00] [-1.06473601e-03 9.99999423e-01 -1.45131140e-04 -5.76138976e+00] [-5.58776671e-03 1.39179457e-04 9.99984379e-01 5.29221767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44165253199999 meters 0.1654874975068815 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983270e-01 1.17895363e-03 5.66300687e-03 -4.57874060e+00] [-1.17883495e-03 9.99999305e-01 -2.42950549e-05 -5.76132062e+00] [-5.66303158e-03 1.76188980e-05 9.99983965e-01 5.29768096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471652532 meters 0.16015554698500675 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99984484e-01 1.19760667e-03 5.44033528e-03 -4.57836413e+00] [-1.19888735e-03 9.99999254e-01 2.32149166e-04 -5.76221293e+00] [-5.44005320e-03 -2.38667913e-04 9.99985174e-01 5.30143419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501652532 meters 0.15909142370391186 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99984374e-01 1.05423804e-03 5.49004879e-03 -4.57824908e+00] [-1.05390100e-03 9.99999443e-01 -6.42821421e-05 -5.76155301e+00] [-5.49011350e-03 5.84951697e-05 9.99984928e-01 5.29731007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531652532 meters 0.1572001343722366 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983283e-01 8.76268955e-04 5.71542377e-03 -4.57851946e+00] [-8.72930420e-04 9.99999447e-01 -5.86595785e-04 -5.75996678e+00] [-5.71593463e-03 5.81596812e-04 9.99983495e-01 5.29184578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561652532 meters 0.1589411584829151 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983786e-01 6.23697422e-04 5.66020285e-03 -4.57812096e+00] [-6.18133977e-04 9.99999324e-01 -9.84601689e-04 -5.75897594e+00] [-5.66081312e-03 9.81086961e-04 9.99983496e-01 5.28715525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591652532 meters 0.1580254453782149 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982572e-01 8.72612806e-04 5.83903876e-03 -4.57897702e+00] [-8.68628112e-04 9.99999388e-01 -6.84924251e-04 -5.75926628e+00] [-5.83963286e-03 6.79840361e-04 9.99982718e-01 5.29421782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621652532 meters 0.16440638102290264 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983212e-01 9.92105250e-04 5.70882409e-03 -4.57878244e+00] [-9.90641990e-04 9.99999476e-01 -2.59137474e-04 -5.76071786e+00] [-5.70907819e-03 2.53477723e-04 9.99983671e-01 5.29744226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65165253199999 meters 0.15564966353310117 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983717e-01 9.81674539e-04 5.62165329e-03 -4.57860612e+00] [-9.80514574e-04 9.99999497e-01 -2.09091049e-04 -5.76092865e+00] [-5.62185572e-03 2.03575532e-04 9.99984177e-01 5.29849153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68165253199999 meters 0.15564966353310117 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983717e-01 9.81674539e-04 5.62165329e-03 -4.57860612e+00] [-9.80514574e-04 9.99999497e-01 -2.09091049e-04 -5.76092865e+00] [-5.62185572e-03 2.03575532e-04 9.99984177e-01 5.29849153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71165253199999 meters 0.1628702484244043 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983773e-01 7.53874103e-04 5.64680369e-03 -4.57830568e+00] [-7.50200791e-04 9.99999506e-01 -6.52601527e-04 -5.75990189e+00] [-5.64729288e-03 6.48354700e-04 9.99983844e-01 5.29182732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74165253199999 meters 0.1632314498249518 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983322e-01 7.06138232e-04 5.73205767e-03 -4.57856867e+00] [-7.01270239e-04 9.99999392e-01 -8.51222911e-04 -5.75901521e+00] [-5.73265526e-03 8.47188993e-04 9.99983209e-01 5.29220274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77165253199999 meters 0.15377078330124455 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99983092e-01 5.98407788e-04 5.78422358e-03 -4.57860553e+00] [-5.92135241e-04 9.99999235e-01 -1.08607509e-03 -5.75829007e+00] [-5.78486907e-03 1.08263168e-03 9.99982681e-01 5.29034334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80165253199999 meters 0.16042145977388175 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981504e-01 8.37901961e-04 6.02407463e-03 -4.57963459e+00] [-8.32395903e-04 9.99999234e-01 -9.16457985e-04 -5.75796253e+00] [-6.02483791e-03 9.11426619e-04 9.99981435e-01 5.29786543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83165253199999 meters 0.15686766218753867 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981649e-01 1.01458404e-03 5.97267704e-03 -4.57983391e+00] [-1.01118663e-03 9.99999325e-01 -5.71817024e-04 -5.75875914e+00] [-5.97325317e-03 5.65767039e-04 9.99982000e-01 5.30388284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861652532 meters 0.15607134965393524 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99980756e-01 1.08485057e-03 6.10819314e-03 -4.58029925e+00] [-1.08154402e-03 9.99999267e-01 -5.44607001e-04 -5.75866113e+00] [-6.10877948e-03 5.37990241e-04 9.99981197e-01 5.30644109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891652532 meters 0.15529347221825532 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981710e-01 1.08445764e-03 5.95002902e-03 -4.57998687e+00] [-1.08232574e-03 9.99999349e-01 -3.61509114e-04 -5.75932981e+00] [-5.95041719e-03 3.55062633e-04 9.99982233e-01 5.30863225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921652532 meters 0.16920853268376487 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981904e-01 1.05867409e-03 5.92199524e-03 -4.57990580e+00] [-1.05678800e-03 9.99999390e-01 -3.21608332e-04 -5.75950724e+00] [-5.92233210e-03 3.15344219e-04 9.99982413e-01 5.30902923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951652532 meters 0.16140032905667281 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99981756e-01 1.25067109e-03 5.90962143e-03 -4.58013796e+00] [-1.25141107e-03 9.99999210e-01 1.21520117e-04 -5.76060631e+00] [-5.90946477e-03 -1.28913265e-04 9.99982531e-01 5.31395620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981652532 meters 0.16416844898985497 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99982816e-01 1.03909315e-03 5.76950141e-03 -4.57937472e+00] [-1.03881880e-03 9.99999459e-01 -5.05488071e-05 -5.76076136e+00] [-5.76955082e-03 4.45544719e-05 9.99983355e-01 5.30727925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01165253199999 meters 0.1667790852059886 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99984367e-01 9.48632998e-04 5.51056664e-03 -4.57851809e+00] [-9.49162618e-04 9.99999545e-01 9.34953464e-05 -5.76177454e+00] [-5.51047545e-03 -9.87243086e-05 9.99984812e-01 5.30436489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04165253199999 meters 0.15840400415771297 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987688e-01 7.34374650e-04 4.90750799e-03 -4.57650487e+00] [-7.36488158e-04 9.99999637e-01 4.28874874e-04 -5.76465848e+00] [-4.90719125e-03 -4.32483916e-04 9.99987866e-01 5.29736805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07165253199999 meters 0.16117675421981334 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.77, Z:0.53 [[ 9.99989011e-01 7.47641770e-04 4.62809334e-03 -4.57570697e+00] [-7.51354299e-04 9.99999397e-01 8.00485699e-04 -5.76645236e+00] [-4.62749208e-03 -8.03954240e-04 9.99988970e-01 5.29696485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10165253199999 meters 0.1590175686525041 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99990664e-01 7.65455397e-04 4.25269879e-03 -4.57479002e+00] [-7.71137860e-04 9.99998812e-01 1.33472259e-03 -5.76882347e+00] [-4.25167207e-03 -1.33798954e-03 9.99990066e-01 5.29916583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13165253199999 meters 0.15703574948709959 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99990827e-01 8.78034615e-04 4.19214282e-03 -4.57488318e+00] [-8.84920682e-04 9.99998262e-01 1.64104046e-03 -5.76954741e+00] [-4.19069464e-03 -1.64473512e-03 9.99989866e-01 5.30390020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16165253199999 meters 0.1523815352222716 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99991394e-01 8.20456154e-04 4.06675388e-03 -4.57444068e+00] [-8.27600202e-04 9.99998117e-01 1.75532402e-03 -5.77026916e+00] [-4.06530606e-03 -1.75867457e-03 9.99990190e-01 5.30257514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19165253199999 meters 0.15347221367682162 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99991922e-01 7.11277408e-04 3.95601683e-03 -4.57391094e+00] [-7.18053215e-04 9.99998277e-01 1.71162862e-03 -5.77062712e+00] [-3.95479258e-03 -1.71445542e-03 9.99990710e-01 5.29874374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221652532 meters 0.15538281487082203 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992450e-01 2.27027642e-04 3.87929536e-03 -4.57283449e+00] [-2.30577108e-04 9.99999555e-01 9.14554280e-04 -5.76921489e+00] [-3.87908601e-03 -9.15441852e-04 9.99992057e-01 5.28298312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251652532 meters 0.1530182005835133 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992712e-01 -2.51358505e-05 3.81777287e-03 -4.57215095e+00] [ 2.31035580e-05 9.99999858e-01 5.32367257e-04 -5.76876872e+00] [-3.81778571e-03 -5.32275173e-04 9.99992571e-01 5.27398794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281652532 meters 0.16311207848895332 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993576e-01 -1.57076008e-04 3.58086652e-03 -4.57129319e+00] [ 1.55177822e-04 9.99999847e-01 5.30362713e-04 -5.76934945e+00] [-3.58094928e-03 -5.29803635e-04 9.99993448e-01 5.27016843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311652532 meters 0.15129518755933896 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993890e-01 -4.60633490e-05 3.49537645e-03 -4.57124413e+00] [ 4.33280990e-05 9.99999693e-01 7.82605418e-04 -5.77011796e+00] [-3.49541143e-03 -7.82449188e-04 9.99993585e-01 5.27355302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341652532 meters 0.15867554498153522 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993659e-01 -1.51974062e-04 3.55803226e-03 -4.57124360e+00] [ 1.50250622e-04 9.99999871e-01 4.84642199e-04 -5.76936427e+00] [-3.55810546e-03 -4.84104530e-04 9.99993553e-01 5.27075962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371652532 meters 0.15108791102559496 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993489e-01 -7.29761497e-05 3.60772452e-03 -4.57160024e+00] [ 7.09866718e-05 9.99999845e-01 5.51574465e-04 -5.76918377e+00] [-3.60776421e-03 -5.51314774e-04 9.99993340e-01 5.27434869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40165253199999 meters 0.15984014236469107 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99993063e-01 -1.69311689e-04 3.72101649e-03 -4.57196213e+00] [ 1.68440359e-04 9.99999958e-01 2.34476399e-04 -5.76785701e+00] [-3.72105604e-03 -2.33848003e-04 9.99993050e-01 5.27498908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43165253199999 meters 0.15606567296246615 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992437e-01 -1.05122263e-04 3.88782046e-03 -4.57260406e+00] [ 1.04546810e-04 9.99999984e-01 1.48217021e-04 -5.76701698e+00] [-3.88783597e-03 -1.47809441e-04 9.99992431e-01 5.27801443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46165253199999 meters 0.16116976664078692 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992751e-01 -3.67565684e-04 3.78983759e-03 -4.57190597e+00] [ 3.68687098e-04 9.99999888e-01 -2.95205900e-04 -5.76621756e+00] [-3.78972866e-03 2.96601025e-04 9.99992775e-01 5.27009186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49165253199999 meters 0.16367113050236917 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99991498e-01 -2.44373645e-04 4.11634822e-03 -4.57288755e+00] [ 2.46165225e-04 9.99999875e-01 -4.34734350e-04 -5.76516944e+00] [-4.11624147e-03 4.35743956e-04 9.99991433e-01 5.27216752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52165253199999 meters 0.18799581717443087 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99989941e-01 -3.15997542e-04 4.47415244e-03 -4.57375325e+00] [ 3.20237338e-04 9.99999500e-01 -9.46935195e-04 -5.76304834e+00] [-4.47385097e-03 9.48358461e-04 9.99989543e-01 5.27086607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55165253199999 meters 0.1760922223896056 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.76, Z:0.53 [[ 9.99989347e-01 -3.70450503e-04 4.60089553e-03 -4.57421873e+00] [ 3.76067042e-04 9.99999185e-01 -1.21994395e-03 -5.76177133e+00] [-4.60043985e-03 1.22166119e-03 9.99988672e-01 5.27249703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58165253199999 meters 0.16667048506222165 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987585e-01 2.00916718e-04 4.97892050e-03 -4.57647776e+00] [-1.97551105e-04 9.99999752e-01 -6.76455060e-04 -5.76138088e+00] [-4.97905517e-03 6.75463070e-04 9.99987376e-01 5.29406080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611652532 meters 0.17267032962899295 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987098e-01 3.98291617e-04 5.06409846e-03 -4.57717769e+00] [-3.96069135e-04 9.99999825e-01 -4.39865533e-04 -5.76147057e+00] [-5.06427277e-03 4.37854124e-04 9.99987081e-01 5.30218701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641652532 meters 0.18221576103325388 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985863e-01 3.72209208e-04 5.30421141e-03 -4.57785739e+00] [-3.68485583e-04 9.99999685e-01 -7.02972960e-04 -5.76027533e+00] [-5.30447139e-03 7.01008497e-04 9.99985685e-01 5.30340542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671652532 meters 0.1725081537411911 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99984469e-01 4.11520201e-04 5.55808635e-03 -4.57870037e+00] [-4.06555390e-04 9.99999517e-01 -8.94359374e-04 -5.75890713e+00] [-5.55845171e-03 8.92085814e-04 9.99984154e-01 5.30563551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701652532 meters 0.1568951176807211 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985547e-01 2.65091625e-04 5.36984248e-03 -4.57791135e+00] [-2.60132614e-04 9.99999539e-01 -9.24170183e-04 -5.75939267e+00] [-5.37008499e-03 9.22759955e-04 9.99985155e-01 5.30063574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731652532 meters 0.18016949896611809 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986692e-01 1.56314939e-04 5.15666777e-03 -4.57706613e+00] [-1.51531453e-04 9.99999558e-01 -9.28008956e-04 -5.76002557e+00] [-5.15681055e-03 9.27215209e-04 9.99986274e-01 5.29582609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76165253199999 meters 0.16455108984587816 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986558e-01 2.83515628e-04 5.17719877e-03 -4.57715733e+00] [-2.79925093e-04 9.99999720e-01 -6.94239953e-04 -5.76075015e+00] [-5.17739415e-03 6.92781394e-04 9.99986357e-01 5.29669586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79165253199999 meters 0.16674570052923174 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987204e-01 4.13054240e-04 5.04193298e-03 -4.57696812e+00] [-4.11539617e-04 9.99999870e-01 -3.01438949e-04 -5.76186856e+00] [-5.04205684e-03 2.99360137e-04 9.99987244e-01 5.29894161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82165253199999 meters 0.1614192145989944 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986613e-01 4.66639594e-04 5.15321291e-03 -4.57741223e+00] [-4.65269208e-04 9.99999856e-01 -2.67124026e-04 -5.76162948e+00] [-5.15333682e-03 2.64722819e-04 9.99986686e-01 5.30148536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85165253199999 meters 0.16847659689537303 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99985678e-01 5.22132971e-04 5.32637248e-03 -4.57802389e+00] [-5.20706525e-04 9.99999828e-01 -2.69191245e-04 -5.76119322e+00] [-5.32651212e-03 2.66413912e-04 9.99985779e-01 5.30421122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88165253199999 meters 0.16547206889254684 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986089e-01 6.15250477e-04 5.23869048e-03 -4.57800997e+00] [-6.15365693e-04 9.99999810e-01 2.03813939e-05 -5.76193370e+00] [-5.23867695e-03 -2.36048208e-05 9.99986278e-01 5.30768439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91165253199999 meters 0.16897743360842182 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99986971e-01 4.67764020e-04 5.08320218e-03 -4.57713204e+00] [-4.67989997e-04 9.99999890e-01 4.32663824e-05 -5.76288134e+00] [-5.08318138e-03 -4.56447065e-05 9.99987080e-01 5.30020822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94165253199999 meters 0.16603958739582642 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987620e-01 5.48286388e-04 4.94563056e-03 -4.57669124e+00] [-5.50110130e-04 9.99999781e-01 3.67405413e-04 -5.76423972e+00] [-4.94542803e-03 -3.70121506e-04 9.99987703e-01 5.29903014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971652532 meters 0.16415731290892274 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.76, Z:0.53 [[ 9.99987651e-01 5.00459645e-04 4.94442730e-03 -4.57635326e+00] [-5.02248217e-04 9.99999809e-01 3.60499933e-04 -5.76472776e+00] [-4.94424594e-03 -3.62978811e-04 9.99987711e-01 5.29360426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001652532 meters 0.1625193355724787 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.77, Z:0.53 [[ 9.99988208e-01 6.19267540e-04 4.81675048e-03 -4.57599231e+00] [-6.23001242e-04 9.99999507e-01 7.73687842e-04 -5.76629103e+00] [-4.81626899e-03 -7.76679560e-04 9.99988100e-01 5.29335347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031652532 meters 0.15645487939917924 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.77, Z:0.53 [[ 9.99989542e-01 6.43686491e-04 4.52785337e-03 -4.57508467e+00] [-6.49370225e-04 9.99999003e-01 1.25392419e-03 -5.76863423e+00] [-4.52704172e-03 -1.25685132e-03 9.99988963e-01 5.29156684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061652532 meters 0.15761464319021948 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99990540e-01 7.32206209e-04 4.28773690e-03 -4.57449039e+00] [-7.40011014e-04 9.99998072e-01 1.81895854e-03 -5.77086968e+00] [-4.28639678e-03 -1.82211431e-03 9.99989153e-01 5.29310771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091652532 meters 0.15897677758885137 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99991902e-01 7.42632662e-04 3.95527843e-03 -4.57348226e+00] [-7.51758598e-04 9.99997058e-01 2.30629355e-03 -5.77314829e+00] [-3.95355406e-03 -2.30924829e-03 9.99989518e-01 5.29115913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121652532 meters 0.1542342229042935 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.77, Z:0.53 [[ 9.99992345e-01 7.80820632e-04 3.83409006e-03 -4.57292782e+00] [-7.90713846e-04 9.99996360e-01 2.57949144e-03 -5.77460137e+00] [-3.83206198e-03 -2.58250336e-03 9.99989323e-01 5.28770330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15165253199999 meters 0.15465250628307284 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99985647e-01 -3.79864918e-03 3.77843813e-03 -4.57129449e+00] [ 3.80553237e-03 9.99991110e-01 -1.81618616e-03 -5.77656455e+00] [-3.77150548e-03 1.83053906e-03 9.99991212e-01 5.26496024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18165253199999 meters 0.1515551837932184 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99987199e-01 -3.76620418e-03 3.37889210e-03 -4.57012342e+00] [ 3.77025366e-03 9.99992181e-01 -1.19289551e-03 -5.77934413e+00] [-3.37437299e-03 1.20561952e-03 9.99993580e-01 5.26196881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21165253199999 meters 0.1459925783986168 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99987724e-01 -3.69207703e-03 3.30457256e-03 -4.56985715e+00] [ 3.69512800e-03 9.99992752e-01 -9.17628639e-04 -5.78039719e+00] [-3.30116065e-03 9.29828193e-04 9.99994119e-01 5.26091229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24165253199999 meters 0.15186359405543076 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.78, Z:0.53 [[ 9.99987612e-01 -3.53286458e-03 3.50646352e-03 -4.57050226e+00] [ 3.53547343e-03 9.99993478e-01 -7.38092610e-04 -5.78058728e+00] [-3.50383307e-03 7.50480475e-04 9.99993580e-01 5.26275975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27165253199999 meters 0.15318261225499802 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.53 [[ 9.99990285e-01 -2.94440135e-03 3.28044263e-03 -4.57056300e+00] [ 2.94204898e-03 9.99995412e-01 7.21683510e-04 -5.78509828e+00] [-3.28255251e-03 -7.12025276e-04 9.99994359e-01 5.27609096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30165253199999 meters 0.14646923101546136 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.53 [[ 9.99991736e-01 -2.73774271e-03 3.00556344e-03 -4.56999684e+00] [ 2.73327750e-03 9.99995156e-01 1.48875139e-03 -5.78803332e+00] [-3.00962470e-03 -1.48052405e-03 9.99994375e-01 5.28007060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33165253199999 meters 0.14787962783028988 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.53 [[ 9.99992423e-01 -2.56288181e-03 2.93001493e-03 -4.56985242e+00] [ 2.55711653e-03 9.99994791e-01 1.96971753e-03 -5.78981158e+00] [-2.93504782e-03 -1.96221022e-03 9.99993768e-01 5.28218055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361652532 meters 0.15489476306083966 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.53 [[ 9.99993520e-01 -2.46102630e-03 2.62727523e-03 -4.56906377e+00] [ 2.45410097e-03 9.99993515e-01 2.63591419e-03 -5.79253277e+00] [-2.63374524e-03 -2.62944951e-03 9.99993075e-01 5.28285711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391652532 meters 0.14951924046785417 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.53 [[ 9.99993826e-01 -2.41949249e-03 2.54825307e-03 -4.56864127e+00] [ 2.41217437e-03 9.99992969e-01 2.87098589e-03 -5.79381513e+00] [-2.55518148e-03 -2.86482133e-03 9.99992632e-01 5.27993240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421652532 meters 0.14072480524894868 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99994288e-01 -2.37659802e-03 2.40313456e-03 -4.56801989e+00] [ 2.36890481e-03 9.99992077e-01 3.19911912e-03 -5.79552634e+00] [-2.41071854e-03 -3.19340805e-03 9.99991995e-01 5.27671231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451652532 meters 0.1465676193029233 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99994715e-01 -2.39510074e-03 2.19867669e-03 -4.56714231e+00] [ 2.38743127e-03 9.99991080e-01 3.48424229e-03 -5.79735671e+00] [-2.20700218e-03 -3.47897469e-03 9.99991513e-01 5.27167584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481652532 meters 0.14688043518274477 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99995220e-01 -2.47729776e-03 1.84994410e-03 -4.56573850e+00] [ 2.47004667e-03 9.99989299e-01 3.91167682e-03 -5.80015581e+00] [-1.85961469e-03 -3.90708867e-03 9.99990638e-01 5.26449372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51165253199999 meters 0.14400690347329761 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99995335e-01 -2.48235047e-03 1.77991772e-03 -4.56545502e+00] [ 2.47513577e-03 9.99988759e-01 4.04419568e-03 -5.80082459e+00] [-1.78993683e-03 -4.03977128e-03 9.99990238e-01 5.26290961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54165253199999 meters 0.13867119157716493 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.53 [[ 9.99994924e-01 -2.69403199e-03 1.70110666e-03 -4.56477131e+00] [ 2.68747247e-03 9.99988990e-01 3.84661974e-03 -5.80091807e+00] [-1.71145085e-03 -3.84202854e-03 9.99991155e-01 5.25500039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57165253199999 meters 0.14157571193935775 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.53 [[ 9.99995054e-01 -2.67070380e-03 1.66115181e-03 -4.56455691e+00] [ 2.66405985e-03 9.99988495e-01 3.98903976e-03 -5.80167266e+00] [-1.67178625e-03 -3.98459462e-03 9.99990664e-01 5.25363711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60165253199999 meters 0.14157571193935775 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.53 [[ 9.99995054e-01 -2.67070380e-03 1.66115181e-03 -4.56455691e+00] [ 2.66405985e-03 9.99988495e-01 3.98903976e-03 -5.80167266e+00] [-1.67178625e-03 -3.98459462e-03 9.99990664e-01 5.25363711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63165253199999 meters 0.13712140809870324 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.53 [[ 9.99995720e-01 -2.57313760e-03 1.39272594e-03 -4.56354018e+00] [ 2.56674040e-03 9.99986237e-01 4.57575362e-03 -5.80495031e+00] [-1.40448081e-03 -4.57215927e-03 9.99988561e-01 5.25024907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66165253199999 meters 0.13772454028190972 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99995959e-01 -2.50092473e-03 1.35175189e-03 -4.56336998e+00] [ 2.49442935e-03 9.99985437e-01 4.78567202e-03 -5.80588496e+00] [-1.36370081e-03 -4.78228083e-03 9.99987635e-01 5.24972693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69165253199999 meters 0.13735399949678523 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996043e-01 -2.49511648e-03 1.29970552e-03 -4.56310601e+00] [ 2.48864196e-03 9.99984605e-01 4.95955067e-03 -5.80679489e+00] [-1.31206017e-03 -4.95629654e-03 9.99986857e-01 5.24838824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721652532 meters 0.13351661158446737 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996488e-01 -2.51689610e-03 8.30423894e-04 -4.56159193e+00] [ 2.51210375e-03 9.99980472e-01 5.72240239e-03 -5.81075018e+00] [-8.44810369e-04 -5.72029618e-03 9.99983282e-01 5.24475419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751652532 meters 0.15193244061518324 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996220e-01 -2.63832628e-03 7.74597802e-04 -4.56094918e+00] [ 2.63387948e-03 9.99980362e-01 5.68674561e-03 -5.81144167e+00] [-7.89586081e-04 -5.68468391e-03 9.99983530e-01 5.23657167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781652532 meters 0.14219640764223396 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99995563e-01 -2.91243536e-03 6.26124227e-04 -4.55988518e+00] [ 2.90897484e-03 9.99980871e-01 5.45853626e-03 -5.81177841e+00] [-6.42009884e-04 -5.45669066e-03 9.99984906e-01 5.22527104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811652532 meters 0.13574096361963145 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99995276e-01 -3.01983733e-03 5.73410578e-04 -4.55937764e+00] [ 3.01669523e-03 9.99980850e-01 5.40367474e-03 -5.81222438e+00] [-5.89717816e-04 -5.40191941e-03 9.99985236e-01 5.21916050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841652532 meters 0.1331073810079067 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995088e-01 -3.13328712e-03 8.48725991e-05 -4.55760510e+00] [ 3.13271420e-03 9.99976668e-01 6.07036988e-03 -5.81624377e+00] [-1.03890831e-04 -6.07007418e-03 9.99981572e-01 5.21308363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87165253199998 meters 0.1302111588118787 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995498e-01 -3.00008484e-03 -5.84933281e-05 -4.55728336e+00] [ 3.00040446e-03 9.99973904e-01 6.57179097e-03 -5.81816504e+00] [ 3.87758713e-05 -6.57193689e-03 9.99978404e-01 5.21517995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90165253199999 meters 0.13362741905188338 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995821e-01 -2.89022918e-03 -6.37342377e-05 -4.55734521e+00] [ 2.89059734e-03 9.99972456e-01 6.83607272e-03 -5.81907413e+00] [ 4.39746654e-05 -6.83622838e-03 9.99976632e-01 5.21742814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93165253199999 meters 0.1274777051953999 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99976523e-01 -6.84844201e-03 2.26964813e-04 -4.55816327e+00] [ 6.84771501e-03 9.99971865e-01 3.06247387e-03 -5.82084282e+00] [-2.47931602e-04 -3.06084778e-03 9.99995285e-01 5.22031096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96165253199999 meters 0.12388865007896017 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99978290e-01 -6.58918735e-03 4.65504019e-05 -4.55792848e+00] [ 6.58895829e-03 9.99970827e-01 3.86405907e-03 -5.82355203e+00] [-7.20100530e-05 -3.86366846e-03 9.99992533e-01 5.22565454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99165253199999 meters 0.12816840714545652 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99979217e-01 -6.44689696e-03 4.83671718e-05 -4.55790083e+00] [ 6.44663455e-03 9.99970265e-01 4.23197491e-03 -5.82493746e+00] [-7.56488398e-05 -4.23157515e-03 9.99991044e-01 5.22578483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02165253199999 meters 0.12664109492758868 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99979890e-01 -6.33910462e-03 1.88648239e-04 -4.55821049e+00] [ 6.33822885e-03 9.99970546e-01 4.32826393e-03 -5.82527112e+00] [-2.16080001e-04 -4.32698119e-03 9.99990615e-01 5.22455574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05165253199999 meters 0.12651639465092893 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99980251e-01 -6.26472051e-03 5.01026655e-04 -4.55880547e+00] [ 6.26257985e-03 9.99971713e-01 4.16572048e-03 -5.82479343e+00] [-5.27109557e-04 -4.16250049e-03 9.99991198e-01 5.22018013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08165253199999 meters 0.1220562897336588 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99980604e-01 -6.19938901e-03 5.99130573e-04 -4.55896800e+00] [ 6.19679024e-03 9.99971784e-01 4.24621242e-03 -5.82521058e+00] [-6.25437590e-04 -4.24241737e-03 9.99990805e-01 5.21884587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111652532 meters 0.12382907451932956 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99981451e-01 -6.05422569e-03 6.66583898e-04 -4.55921637e+00] [ 6.05118941e-03 9.99971716e-01 4.46647587e-03 -5.82589147e+00] [-6.93606097e-04 -4.46235939e-03 9.99989803e-01 5.22014857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141652532 meters 0.13242874686448294 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99981805e-01 -5.98119259e-03 7.83777907e-04 -4.55959279e+00] [ 5.97763990e-03 9.99972191e-01 4.45932628e-03 -5.82575843e+00] [-8.10428200e-04 -4.45456001e-03 9.99989750e-01 5.22134566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171652532 meters 0.13228002651571225 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99982011e-01 -5.89742294e-03 1.09455327e-03 -4.56053484e+00] [ 5.89268686e-03 9.99973475e-01 4.28088332e-03 -5.82467327e+00] [-1.11977042e-03 -4.27435645e-03 9.99990238e-01 5.22294297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201652532 meters 0.1323988145246131 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99981089e-01 -5.99167077e-03 1.38644824e-03 -4.56108955e+00] [ 5.98635399e-03 9.99974832e-01 3.80770730e-03 -5.82310226e+00] [-1.40922787e-03 -3.79933552e-03 9.99991790e-01 5.21855907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231652532 meters 0.12878653896040496 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99979462e-01 -6.23410992e-03 1.48678766e-03 -4.56107888e+00] [ 6.22929842e-03 9.99975416e-01 3.21913573e-03 -5.82133120e+00] [-1.50681956e-03 -3.20980797e-03 9.99993713e-01 5.21303390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26165253199999 meters 0.13675903710724924 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99978679e-01 -6.12502575e-03 2.26394176e-03 -4.56311043e+00] [ 6.11971135e-03 9.99978520e-01 2.34692802e-03 -5.81734575e+00] [-2.27826813e-03 -2.33302331e-03 9.99994683e-01 5.21230626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29165253199999 meters 0.13404638809255678 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99979142e-01 -5.90240535e-03 2.62240233e-03 -4.56456620e+00] [ 5.89634427e-03 9.99979941e-01 2.31302096e-03 -5.81605713e+00] [-2.63600212e-03 -2.29751013e-03 9.99993886e-01 5.22036310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32165253199999 meters 0.14582447011201116 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979487e-01 -5.64345414e-03 3.02949266e-03 -4.56616748e+00] [ 5.63649693e-03 9.99981469e-01 2.30013864e-03 -5.81479780e+00] [-3.04241724e-03 -2.28301573e-03 9.99992766e-01 5.22904243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35165253199999 meters 0.13446127891005305 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978055e-01 -5.65064144e-03 3.45835006e-03 -4.56733188e+00] [ 5.64463779e-03 9.99982549e-01 1.74329240e-03 -5.81232033e+00] [-3.46814043e-03 -1.72373301e-03 9.99992500e-01 5.22905995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38165253199999 meters 0.14908150540429052 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978199e-01 -5.35020652e-03 3.86988017e-03 -4.56895478e+00] [ 5.34335227e-03 9.99984141e-01 1.77935257e-03 -5.81115774e+00] [-3.87933870e-03 -1.75863565e-03 9.99990929e-01 5.23749297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41165253199999 meters 0.138459249086675 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975604e-01 -5.44664387e-03 4.37333125e-03 -4.57001248e+00] [ 5.44244994e-03 9.99984719e-01 9.70307136e-04 -5.80823939e+00] [-4.37854934e-03 -9.46481828e-04 9.99989966e-01 5.23332029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44165253199999 meters 0.14402274025720863 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99975736e-01 -4.93201915e-03 4.91958715e-03 -4.57247342e+00] [ 4.92615745e-03 9.99987143e-01 1.20290826e-03 -5.80682808e+00] [-4.92545667e-03 -1.17864441e-03 9.99987175e-01 5.25163035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471652532 meters 0.1483024629349602 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99975286e-01 -4.66696813e-03 5.25810817e-03 -4.57399836e+00] [ 4.66033356e-03 9.99988330e-01 1.27332520e-03 -5.80573496e+00] [-5.26398937e-03 -1.24878920e-03 9.99985365e-01 5.26197662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501652532 meters 0.14457589736148896 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99973035e-01 -4.42296849e-03 5.86229625e-03 -4.57598048e+00] [ 4.41744680e-03 9.99989787e-01 9.54512671e-04 -5.80316558e+00] [-5.86645816e-03 -9.28590551e-04 9.99982361e-01 5.26873741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531652532 meters 0.14283971569481124 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99970121e-01 -4.20030209e-03 6.48964470e-03 -4.57783125e+00] [ 4.19616956e-03 9.99990985e-01 6.50273487e-04 -5.80097579e+00] [-6.49231753e-03 -6.23022408e-04 9.99978731e-01 5.27182213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561652532 meters 0.14014957072975562 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99969610e-01 -4.34324380e-03 6.47418053e-03 -4.57765419e+00] [ 4.34076309e-03 9.99990500e-01 3.97171440e-04 -5.80029232e+00] [-6.47584404e-03 -3.69056486e-04 9.99978963e-01 5.26911909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591652532 meters 0.1512502071609599 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99966388e-01 -4.29142672e-03 6.98612735e-03 -4.57901462e+00] [ 4.29355382e-03 9.99990741e-01 -2.89504800e-04 -5.79722971e+00] [-6.98482027e-03 3.19490383e-04 9.99975555e-01 5.26786325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62165253199998 meters 0.14958563590258414 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99976949e-01 -5.90428819e-05 6.78958613e-03 -4.57871349e+00] [ 3.13962518e-05 9.99991709e-01 4.07195133e-03 -5.79728134e+00] [-6.78977026e-03 -4.07164430e-03 9.99968660e-01 5.27149454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65165253199999 meters 0.15125905960259795 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99975000e-01 -3.01255170e-04 7.06464636e-03 -4.57921558e+00] [ 2.77910903e-04 9.99994499e-01 3.30512764e-03 -5.79470133e+00] [-7.06560319e-03 -3.30308167e-03 9.99969583e-01 5.26729079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68165253199999 meters 0.15705891572618294 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99972519e-01 -1.98686550e-05 7.41352013e-03 -4.58079611e+00] [-5.58535822e-06 9.99994106e-01 3.43342193e-03 -5.79387358e+00] [-7.41354465e-03 -3.43336899e-03 9.99966625e-01 5.27998209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71165253199999 meters 0.1553310089300448 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99972682e-01 1.53607159e-04 7.38990682e-03 -4.58108455e+00] [-1.81478400e-04 9.99992873e-01 3.77100530e-03 -5.79452165e+00] [-7.38927490e-03 -3.77224339e-03 9.99965584e-01 5.28596246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74165253199999 meters 0.15414339253172457 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99970814e-01 4.03367221e-05 7.63996989e-03 -4.58148685e+00] [-6.57032881e-05 9.99994487e-01 3.32002235e-03 -5.79312499e+00] [-7.63979385e-03 -3.32042742e-03 9.99965304e-01 5.28129986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77165253199999 meters 0.1491045822789637 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99974638e-01 -4.31770007e-04 7.10890881e-03 -4.57945945e+00] [ 4.09433062e-04 9.99994976e-01 3.14326155e-03 -5.79418671e+00] [-7.11023026e-03 -3.14027121e-03 9.99969791e-01 5.26980197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80165253199999 meters 0.14962281609364933 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99974371e-01 -6.46310409e-04 7.13024189e-03 -4.57903971e+00] [ 6.26426399e-04 9.99995910e-01 2.79056762e-03 -5.79367909e+00] [-7.13201630e-03 -2.78602953e-03 9.99970686e-01 5.26146923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83165253199999 meters 0.14662858010560734 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.53 [[ 9.99976557e-01 -7.91989735e-04 6.80139440e-03 -4.57799353e+00] [ 7.71973386e-04 9.99995365e-01 2.94509845e-03 -5.79490332e+00] [-6.80369537e-03 -2.93977891e-03 9.99972533e-01 5.25891519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861652532 meters 0.14223532594999555 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99976709e-01 -7.42483054e-04 6.78449494e-03 -4.57795474e+00] [ 7.21469094e-04 9.99994937e-01 3.09927329e-03 -5.79552219e+00] [-6.78676175e-03 -3.09430630e-03 9.99972182e-01 5.25965031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891652532 meters 0.14152727877299232 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99975823e-01 -5.61430689e-04 6.93093215e-03 -4.57854720e+00] [ 5.37858069e-04 9.99994067e-01 3.40247066e-03 -5.79616664e+00] [-6.93280128e-03 -3.39866054e-03 9.99970192e-01 5.26432455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921652532 meters 0.1551425427238204 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99976190e-01 -5.98361774e-04 6.87470783e-03 -4.57832931e+00] [ 5.74823696e-04 9.99993968e-01 3.42533183e-03 -5.79639676e+00] [-6.87671595e-03 -3.42129853e-03 9.99970502e-01 5.26318357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951652532 meters 0.1512823802663772 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99975990e-01 -7.42603870e-04 6.88963901e-03 -4.57801391e+00] [ 7.20226783e-04 9.99994460e-01 3.24984585e-03 -5.79637058e+00] [-6.89201418e-03 -3.24480572e-03 9.99970985e-01 5.25751962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981652532 meters 0.15147053693099496 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99978208e-01 -7.86143507e-04 6.55487751e-03 -4.57698368e+00] [ 7.62474814e-04 9.99993184e-01 3.61256953e-03 -5.79837711e+00] [-6.55767283e-03 -3.60749287e-03 9.99971991e-01 5.25543530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01165253199999 meters 0.14535777043409195 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99980068e-01 -7.02894996e-04 6.27445660e-03 -4.57600147e+00] [ 6.76125546e-04 9.99990666e-01 4.26751930e-03 -5.80146496e+00] [-6.27739765e-03 -4.26319192e-03 9.99971209e-01 5.25239875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04165253199999 meters 0.16047161486204065 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.52 [[ 9.99981090e-01 -8.25259562e-04 6.09415074e-03 -4.57519386e+00] [ 7.98948306e-04 9.99990355e-01 4.31863365e-03 -5.80239254e+00] [-6.09765596e-03 -4.31368307e-03 9.99972105e-01 5.24695623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07165253199999 meters 0.1382444630831441 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99982887e-01 -9.32189059e-04 5.77549199e-03 -4.57412487e+00] [ 9.05393185e-04 9.99988823e-01 4.64046155e-03 -5.80431699e+00] [-5.77975323e-03 -4.63515305e-03 9.99972555e-01 5.24387859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10165253199999 meters 0.14658577647681478 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99985396e-01 -9.86098989e-04 5.31364693e-03 -4.57295743e+00] [ 9.58656577e-04 9.99986204e-01 5.16458990e-03 -5.80669963e+00] [-5.31866642e-03 -5.15942051e-03 9.99972546e-01 5.24515409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13165253199999 meters 0.15130769607405734 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99973394e-01 -4.94840284e-03 5.35956846e-03 -4.57327979e+00] [ 4.93953818e-03 9.99986413e-01 1.66596280e-03 -5.80932220e+00] [-5.36773949e-03 -1.63944468e-03 9.99984250e-01 5.25131933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16165253199999 meters 0.14030654094980968 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99974835e-01 -4.62970045e-03 5.37537970e-03 -4.57362579e+00] [ 4.61735387e-03 9.99986679e-01 2.30701984e-03 -5.81118070e+00] [-5.38598890e-03 -2.28214175e-03 9.99982891e-01 5.25730745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19165253199999 meters 0.14206394837263406 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99974483e-01 -4.60561285e-03 5.46091683e-03 -4.57367703e+00] [ 4.59283919e-03 9.99986693e-01 2.34934301e-03 -5.81155810e+00] [-5.47166432e-03 -2.32420195e-03 9.99982329e-01 5.25471744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221652532 meters 0.14070168037158895 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99975648e-01 -4.39160016e-03 5.42371932e-03 -4.57376941e+00] [ 4.37586821e-03 9.99986195e-01 2.90905215e-03 -5.81332284e+00] [-5.43641984e-03 -2.88524782e-03 9.99981060e-01 5.25913442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251652532 meters 0.14875812297252128 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99978912e-01 -4.48534798e-03 4.69654818e-03 -4.57156654e+00] [ 4.46700723e-03 9.99982385e-01 3.90838911e-03 -5.81876247e+00] [-4.71399593e-03 -3.88732717e-03 9.99981333e-01 5.25529128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281652532 meters 0.13801280042089314 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99980355e-01 -4.39941933e-03 4.46488066e-03 -4.57080215e+00] [ 4.37956176e-03 9.99980519e-01 4.44757734e-03 -5.82132844e+00] [-4.48436044e-03 -4.42793574e-03 9.99980142e-01 5.25376916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311652532 meters 0.13955553319105238 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99982020e-01 -4.46108542e-03 4.00726286e-03 -4.56932192e+00] [ 4.44074529e-03 9.99977285e-01 5.07045293e-03 -5.82479653e+00] [-4.02979155e-03 -5.05256653e-03 9.99979116e-01 5.25032209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341652532 meters 0.13799304756420006 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99983330e-01 -4.64397730e-03 3.43125311e-03 -4.56745749e+00] [ 4.62477570e-03 9.99973720e-01 5.58299189e-03 -5.82813792e+00] [-3.45709022e-03 -5.56703005e-03 9.99978528e-01 5.24486554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37165253199998 meters 0.12966045420214675 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99984400e-01 -4.99561584e-03 2.49865893e-03 -4.56478444e+00] [ 4.97920006e-03 9.99966260e-01 6.53346581e-03 -5.83312113e+00] [-2.53121331e-03 -6.52092257e-03 9.99975535e-01 5.24345413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40165253199999 meters 0.12822164819282864 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99984139e-01 -5.30361495e-03 1.89536920e-03 -4.56284519e+00] [ 5.29047202e-03 9.99962384e-01 6.87324883e-03 -5.83571719e+00] [-1.93175097e-03 -6.86311242e-03 9.99974583e-01 5.23832498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43165253199999 meters 0.12624559153084083 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99984643e-01 -5.26661932e-03 1.72552839e-03 -4.56227515e+00] [ 5.25396346e-03 9.99959853e-01 7.25870458e-03 -5.83752126e+00] [-1.76368795e-03 -7.24952724e-03 9.99972166e-01 5.23716838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46165253199999 meters 0.12885129143843346 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99985132e-01 -5.19856975e-03 1.64612504e-03 -4.56191052e+00] [ 5.18595584e-03 9.99957850e-01 7.57651661e-03 -5.83909237e+00] [-1.68544271e-03 -7.56786723e-03 9.99969943e-01 5.23518761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49165253199999 meters 0.12885129143843346 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99985132e-01 -5.19856975e-03 1.64612504e-03 -4.56191052e+00] [ 5.18595584e-03 9.99957850e-01 7.57651661e-03 -5.83909237e+00] [-1.68544271e-03 -7.56786723e-03 9.99969943e-01 5.23518761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52165253199999 meters 0.1243890155786576 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99983714e-01 -5.63716238e-03 8.91030013e-04 -4.55955542e+00] [ 5.62989987e-03 9.99952524e-01 7.95323429e-03 -5.84198484e+00] [-9.35821383e-04 -7.94808835e-03 9.99967976e-01 5.22932306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55165253199999 meters 0.12529162508554398 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99983601e-01 -5.63280612e-03 1.03440234e-03 -4.55975672e+00] [ 5.62451134e-03 9.99953339e-01 7.85399100e-03 -5.84186615e+00] [-1.07859409e-03 -7.84804420e-03 9.99968622e-01 5.22609837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58165253199999 meters 0.12689402430937657 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99982650e-01 -5.75640121e-03 1.25028045e-03 -4.55989543e+00] [ 5.74695667e-03 9.99955879e-01 7.43054850e-03 -5.84092601e+00] [-1.29299851e-03 -7.42323427e-03 9.99971611e-01 5.21820489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611652532 meters 0.12198701272985772 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99981886e-01 -5.95505023e-03 8.74332769e-04 -4.55878334e+00] [ 5.94824064e-03 9.99953469e-01 7.59463150e-03 -5.84213186e+00] [-9.19518498e-04 -7.58929319e-03 9.99970778e-01 5.21696950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641652532 meters 0.12323119912873949 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99981584e-01 -5.98873626e-03 9.83651080e-04 -4.55893569e+00] [ 5.98124157e-03 9.99954336e-01 7.45322849e-03 -5.84182983e+00] [-1.02824158e-03 -7.44720777e-03 9.99971741e-01 5.21480702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671652532 meters 0.12825398735494992 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99981861e-01 -5.90201480e-03 1.20145855e-03 -4.55963519e+00] [ 5.89302658e-03 9.99955609e-01 7.35199642e-03 -5.84117772e+00] [-1.24479680e-03 -7.34478283e-03 9.99972252e-01 5.21684019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701652532 meters 0.1228921774863944 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99982650e-01 -5.74848869e-03 1.28612037e-03 -4.56009041e+00] [ 5.73861216e-03 9.99954990e-01 7.55555599e-03 -5.84159472e+00] [-1.32949551e-03 -7.54804436e-03 9.99970629e-01 5.22093530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731652532 meters 0.1253352013400997 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99982591e-01 -5.70455573e-03 1.50882516e-03 -4.56082116e+00] [ 5.69320605e-03 9.99956246e-01 7.42246385e-03 -5.84077085e+00] [-1.55110100e-03 -7.41374457e-03 9.99971315e-01 5.22342472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76165253199999 meters 0.12385169564395541 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99983085e-01 -5.62859254e-03 1.46600390e-03 -4.56082238e+00] [ 5.61715101e-03 9.99954615e-01 7.69513174e-03 -5.84168055e+00] [-1.50925012e-03 -7.68676681e-03 9.99969317e-01 5.22631503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79165253199999 meters 0.12243794677087325 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99983352e-01 -5.62875589e-03 1.27003912e-03 -4.56037983e+00] [ 5.61847576e-03 9.99952553e-01 7.95770559e-03 -5.84277270e+00] [-1.31477084e-03 -7.95043743e-03 9.99967530e-01 5.22852438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82165253199999 meters 0.12207338250942487 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99983255e-01 -5.67491575e-03 1.13374155e-03 -4.55995698e+00] [ 5.66557932e-03 9.99951345e-01 8.07519917e-03 -5.84349907e+00] [-1.17951246e-03 -8.06864065e-03 9.99966752e-01 5.22789561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85165253199999 meters 0.1260926423384807 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99980445e-01 -6.12936553e-03 1.24116528e-03 -4.55947698e+00] [ 6.12032467e-03 9.99955627e-01 7.16145874e-03 -5.84124103e+00] [-1.28500541e-03 -7.15372237e-03 9.99973586e-01 5.21322213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88165253199999 meters 0.119127567337746 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99977969e-01 -6.51428167e-03 1.27509833e-03 -4.55893317e+00] [ 6.50600354e-03 9.99958406e-01 6.39206235e-03 -5.83943266e+00] [-1.31668499e-03 -6.38362573e-03 9.99978758e-01 5.20133234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91165253199999 meters 0.13055180260048785 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99976570e-01 -6.65282889e-03 1.61245286e-03 -4.55947631e+00] [ 6.64355926e-03 9.99961757e-01 5.68752331e-03 -5.83722757e+00] [-1.65022932e-03 -5.67667763e-03 9.99982526e-01 5.19430619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94165253199999 meters 0.12806679726218503 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.84, Z:0.52 [[ 9.99975562e-01 -6.77906275e-03 1.70859648e-03 -4.55973450e+00] [ 6.76992107e-03 9.99963035e-01 5.30056925e-03 -5.83581773e+00] [-1.74446621e-03 -5.28887265e-03 9.99984492e-01 5.19414744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971652532 meters 0.12589797486262308 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99976139e-01 -6.53404937e-03 2.24208738e-03 -4.56144742e+00] [ 6.52263151e-03 9.99965912e-01 5.06258626e-03 -5.83408840e+00] [-2.27509014e-03 -5.04784115e-03 9.99984672e-01 5.19812287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001652532 meters 0.126754229334812 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99974205e-01 -6.70113657e-03 2.58535375e-03 -4.56216580e+00] [ 6.68970735e-03 9.99967924e-01 4.40436258e-03 -5.83167754e+00] [-2.61478505e-03 -4.38695371e-03 9.99986959e-01 5.19462526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031652532 meters 0.12684212432154146 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99973959e-01 -6.63216790e-03 2.84526242e-03 -4.56304405e+00] [ 6.62010002e-03 9.99969140e-01 4.23004861e-03 -5.83055020e+00] [-2.87322900e-03 -4.21110254e-03 9.99987006e-01 5.19726934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061652532 meters 0.1301289775237982 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99971671e-01 -6.80926467e-03 3.20813192e-03 -4.56379532e+00] [ 6.79820099e-03 9.99970951e-01 3.44700908e-03 -5.82766105e+00] [-3.23151032e-03 -3.42510190e-03 9.99988913e-01 5.19329089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091652532 meters 0.1268106520446736 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99969806e-01 -6.98001992e-03 3.41571529e-03 -4.56409938e+00] [ 6.97005190e-03 9.99971441e-01 2.92153658e-03 -5.82595629e+00] [-3.43601012e-03 -2.89764066e-03 9.99989899e-01 5.18874182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12165253199998 meters 0.13291528614065123 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99970596e-01 -6.76168780e-03 3.61753166e-03 -4.56506895e+00] [ 6.75046396e-03 9.99972392e-01 3.10588934e-03 -5.82579129e+00] [-3.63843285e-03 -3.08137800e-03 9.99988633e-01 5.19583760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15165253199999 meters 0.12872576919975096 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99970107e-01 -6.67852869e-03 3.89639807e-03 -4.56595914e+00] [ 6.66705698e-03 9.99973424e-01 2.94977924e-03 -5.82477428e+00] [-3.91599470e-03 -2.92371356e-03 9.99988058e-01 5.19810466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18165253199999 meters 0.13662767561942463 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967114e-01 -6.72586226e-03 4.53131238e-03 -4.56745528e+00] [ 6.71609798e-03 9.99975100e-01 2.16662793e-03 -5.82155153e+00] [-4.54577199e-03 -2.13612394e-03 9.99987386e-01 5.19474152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21165253199999 meters 0.13402579242308837 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99966478e-01 -6.77400604e-03 4.59963597e-03 -4.56763878e+00] [ 6.76491174e-03 9.99975138e-01 1.98986705e-03 -5.82083225e+00] [-4.61300099e-03 -1.95868421e-03 9.99987442e-01 5.19421768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24165253199999 meters 0.13602646500158866 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99965443e-01 -6.80342698e-03 4.77765905e-03 -4.56813654e+00] [ 6.79522335e-03 9.99975414e-01 1.73122035e-03 -5.81969892e+00] [-4.78931982e-03 -1.69869526e-03 9.99987088e-01 5.19440008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27165253199999 meters 0.13462999128461187 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967082e-01 -6.29777740e-03 5.11593504e-03 -4.56998188e+00] [ 6.28644552e-03 9.99977758e-01 2.22808643e-03 -5.81979090e+00] [-5.12985324e-03 -2.19585204e-03 9.99984431e-01 5.21146232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30165253199999 meters 0.13558154567155295 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99966977e-01 -6.12335991e-03 5.34308203e-03 -4.57093547e+00] [ 6.11115465e-03 9.99978687e-01 2.29765497e-03 -5.81931793e+00] [-5.35703752e-03 -2.26492670e-03 9.99983086e-01 5.21749589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33165253199999 meters 0.13633487356008356 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967451e-01 -5.93118046e-03 5.46981324e-03 -4.57174121e+00] [ 5.91751899e-03 9.99979340e-01 2.51042278e-03 -5.81922842e+00] [-5.48459001e-03 -2.47797334e-03 9.99981889e-01 5.22541706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361652532 meters 0.13590824985806005 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99965704e-01 -6.28792655e-03 5.38999416e-03 -4.57137590e+00] [ 6.27765914e-03 9.99978453e-01 1.91970908e-03 -5.81728817e+00] [-5.40194901e-03 -1.88580669e-03 9.99983631e-01 5.22214030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391652532 meters 0.1405880220895732 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99965451e-01 -6.33340985e-03 5.38379002e-03 -4.57143464e+00] [ 6.32367446e-03 9.99978343e-01 1.82338193e-03 -5.81677620e+00] [-5.39522164e-03 -1.78927359e-03 9.99983845e-01 5.22281807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421652532 meters 0.14630713830312692 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99963451e-01 -6.54309932e-03 5.50318744e-03 -4.57148825e+00] [ 6.53618311e-03 9.99977828e-01 1.27381242e-03 -5.81502838e+00] [-5.51140011e-03 -1.23779602e-03 9.99984046e-01 5.21750487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451652532 meters 0.13787610554106175 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99983491e-01 -2.43254462e-03 5.20571422e-03 -4.57066369e+00] [ 2.40415480e-03 9.99982243e-01 5.45291443e-03 -5.81493277e+00] [-5.21888624e-03 -5.44030907e-03 9.99971583e-01 5.21600776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481652532 meters 0.14053539510723495 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99976413e-01 -1.95952297e-03 6.58285429e-03 -4.57429506e+00] [ 1.92979475e-03 9.99987926e-01 4.51932797e-03 -5.80877076e+00] [-6.59163053e-03 -4.50651781e-03 9.99968120e-01 5.22113897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51165253199999 meters 0.14738253412775523 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99976285e-01 -1.99769511e-03 6.59075119e-03 -4.57447929e+00] [ 1.96869818e-03 9.99988368e-01 4.40319830e-03 -5.80813011e+00] [-6.59947077e-03 -4.39011868e-03 9.99968586e-01 5.22398028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54165253199999 meters 0.13993721978823676 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99975623e-01 -1.89297029e-03 6.72093486e-03 -4.57511537e+00] [ 1.86324865e-03 9.99988470e-01 4.42575825e-03 -5.80773369e+00] [-6.72923520e-03 -4.41312759e-03 9.99967620e-01 5.22939364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57165253199999 meters 0.14338828802484155 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99973167e-01 -1.81102799e-03 7.09826706e-03 -4.57626525e+00] [ 1.78197155e-03 9.99990017e-01 4.09764382e-03 -5.80604781e+00] [-7.10561714e-03 -4.08488496e-03 9.99966411e-01 5.23270037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60165253199999 meters 0.1523350031263333 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99973417e-01 -1.86699083e-03 7.04833529e-03 -4.57604120e+00] [ 1.83828030e-03 9.99989997e-01 4.07766069e-03 -5.80633139e+00] [-7.05587774e-03 -4.06459548e-03 9.99966846e-01 5.23169196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63165253199999 meters 0.14869095491388393 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99974087e-01 -1.89089605e-03 6.94616008e-03 -4.57573879e+00] [ 1.86264331e-03 9.99989976e-01 4.07161041e-03 -5.80648500e+00] [-6.95378944e-03 -4.05856668e-03 9.99967586e-01 5.23081537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66165253199999 meters 0.14035752587006672 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99975274e-01 -1.87746076e-03 6.77691545e-03 -4.57533637e+00] [ 1.84841727e-03 9.99989092e-01 4.28937354e-03 -5.80739463e+00] [-6.78489466e-03 -4.27674092e-03 9.99967837e-01 5.23199899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69165253199999 meters 0.14729124799277674 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99974846e-01 -1.95928111e-03 6.81676896e-03 -4.57534561e+00] [ 1.93112142e-03 9.99989586e-01 4.13507673e-03 -5.80702882e+00] [-6.82479975e-03 -4.12180871e-03 9.99968216e-01 5.23043814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721652532 meters 0.1502025799100187 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974898e-01 -2.36815658e-03 6.67798765e-03 -4.57442020e+00] [ 2.34415216e-03 9.99990772e-01 3.60009693e-03 -5.80604529e+00] [-6.68645162e-03 -3.58435234e-03 9.99971221e-01 5.22019517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751652532 meters 0.14847647081477602 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975482e-01 -2.56004693e-03 6.51772506e-03 -4.57369047e+00] [ 2.53737261e-03 9.99990709e-01 3.48476663e-03 -5.80628379e+00] [-6.52658567e-03 -3.46814329e-03 9.99972687e-01 5.21502082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781652532 meters 0.14805711448203424 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99976580e-01 -2.27120826e-03 6.45603787e-03 -4.57391699e+00] [ 2.24465710e-03 9.99989006e-01 4.11688415e-03 -5.80798503e+00] [-6.46531720e-03 -4.10229615e-03 9.99970685e-01 5.22238774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811652532 meters 0.1439266699698796 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978566e-01 -2.38392778e-03 6.09786503e-03 -4.57271750e+00] [ 2.35722761e-03 9.99987620e-01 4.38205514e-03 -5.80987462e+00] [-6.10823604e-03 -4.36758716e-03 9.99971806e-01 5.21840557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841652532 meters 0.13976519163123824 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979012e-01 -2.42682941e-03 6.00724485e-03 -4.57239616e+00] [ 2.40013278e-03 9.99987230e-01 4.44729995e-03 -5.81037366e+00] [-6.01796097e-03 -4.43278842e-03 9.99972067e-01 5.21726947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87165253199998 meters 0.14029069504437738 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979148e-01 -2.46684201e-03 5.96808281e-03 -4.57221257e+00] [ 2.44030061e-03 9.99987119e-01 4.45042479e-03 -5.81063346e+00] [-5.97898443e-03 -4.43576807e-03 9.99972287e-01 5.21621128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90165253199999 meters 0.1387936513948423 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980444e-01 -2.42883427e-03 5.76293226e-03 -4.57170727e+00] [ 2.40120907e-03 9.99985618e-01 4.79568825e-03 -5.81208168e+00] [-5.77449731e-03 -4.78175646e-03 9.99971895e-01 5.21748437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93165253199999 meters 0.1394520306453944 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99982591e-01 -2.62667310e-03 5.28385397e-03 -4.57028765e+00] [ 2.60036649e-03 9.99984222e-01 4.97940164e-03 -5.81361750e+00] [-5.29684986e-03 -4.96557499e-03 9.99973643e-01 5.21496052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96165253199999 meters 0.13837734792709333 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981406e-01 -2.79640840e-03 5.41914238e-03 -4.57027843e+00] [ 2.77169378e-03 9.99985749e-01 4.56277095e-03 -5.81261422e+00] [-5.43182453e-03 -4.54766590e-03 9.99974907e-01 5.20854505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99165253199999 meters 0.13441155467520643 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981046e-01 -2.89621209e-03 5.43312595e-03 -4.57005133e+00] [ 2.87220941e-03 9.99986105e-01 4.42045263e-03 -5.81254688e+00] [-5.44585302e-03 -4.40476377e-03 9.99975470e-01 5.20427821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02165253199999 meters 0.15140938884846625 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981136e-01 -3.12442229e-03 5.28830626e-03 -4.56932630e+00] [ 3.10249117e-03 9.99986575e-01 4.15023211e-03 -5.81240570e+00] [-5.30120234e-03 -4.13374690e-03 9.99977404e-01 5.19821744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05165253199999 meters 0.14198973545452598 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980720e-01 -3.15093257e-03 5.35081696e-03 -4.56938642e+00] [ 3.12901609e-03 9.99986702e-01 4.09935661e-03 -5.81244730e+00] [-5.36366260e-03 -4.08253478e-03 9.99977282e-01 5.19690739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08165253199999 meters 0.1483209295881081 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981515e-01 -3.01565971e-03 5.27972191e-03 -4.56938309e+00] [ 2.99217137e-03 9.99985617e-01 4.45104439e-03 -5.81356903e+00] [-5.29306881e-03 -4.43516428e-03 9.99976156e-01 5.20090854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111652532 meters 0.13954952304643936 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981053e-01 -3.01142345e-03 5.36880209e-03 -4.56968465e+00] [ 2.98803332e-03 9.99986034e-01 4.35938694e-03 -5.81311065e+00] [-5.38185507e-03 -4.34326219e-03 9.99976086e-01 5.20220436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141652532 meters 0.1390342729568157 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980448e-01 -3.08488371e-03 5.43941999e-03 -4.56967860e+00] [ 3.06176178e-03 9.99986264e-01 4.25402401e-03 -5.81305497e+00] [-5.45246845e-03 -4.23728662e-03 9.99976158e-01 5.19927598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171652532 meters 0.15168096139943363 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981652e-01 -3.17914922e-03 5.15641102e-03 -4.56877764e+00] [ 3.15650025e-03 9.99985362e-01 4.39459589e-03 -5.81413524e+00] [-5.17030662e-03 -4.37823904e-03 9.99977049e-01 5.19674251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201652532 meters 0.1447960113937969 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981232e-01 -3.30374588e-03 5.15959659e-03 -4.56840374e+00] [ 3.28211713e-03 9.99985816e-01 4.19480093e-03 -5.81404616e+00] [-5.17338196e-03 -4.17778780e-03 9.99977891e-01 5.19031931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231652532 meters 0.14930876744650728 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99982467e-01 -3.69064564e-03 4.63089484e-03 -4.56641481e+00] [ 3.67122706e-03 9.99984463e-01 4.19478371e-03 -5.81578477e+00] [-4.64630435e-03 -4.17770910e-03 9.99980479e-01 5.18078439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26165253199999 meters 0.14707844046533236 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99982640e-01 -3.59111345e-03 4.67155579e-03 -4.56650190e+00] [ 3.57065600e-03 9.99984032e-01 4.38014561e-03 -5.81640016e+00] [-4.68721080e-03 -4.36338906e-03 9.99979495e-01 5.18052260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29165253199999 meters 0.137624293830851 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99982595e-01 -3.67079320e-03 4.61900716e-03 -4.56619281e+00] [ 3.65066067e-03 9.99983833e-01 4.35953496e-03 -5.81668328e+00] [-4.63493544e-03 -4.34259665e-03 9.99979829e-01 5.17789816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32165253199999 meters 0.14379694528215034 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99983376e-01 -3.73942173e-03 4.38910125e-03 -4.56551639e+00] [ 3.71965187e-03 9.99982940e-01 4.50386155e-03 -5.81756800e+00] [-4.40586821e-03 -4.48746075e-03 9.99980225e-01 5.17734027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35165253199999 meters 0.14103119999923716 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99984383e-01 -4.01504732e-03 3.88743756e-03 -4.56392101e+00] [ 3.99736545e-03 9.99981679e-01 4.54559974e-03 -5.81880312e+00] [-3.90561714e-03 -4.52998925e-03 9.99982113e-01 5.17299329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38165253199999 meters 0.14026285607014546 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99983385e-01 -4.25917045e-03 3.88442444e-03 -4.56343721e+00] [ 4.24311903e-03 9.99982465e-01 4.13117220e-03 -5.81811092e+00] [-3.90195169e-03 -4.11462149e-03 9.99983922e-01 5.16451292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41165253199999 meters 0.14026285607014546 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99983385e-01 -4.25917045e-03 3.88442444e-03 -4.56343721e+00] [ 4.24311903e-03 9.99982465e-01 4.13117220e-03 -5.81811092e+00] [-3.90195169e-03 -4.11462149e-03 9.99983922e-01 5.16451292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44165253199999 meters 0.1414048467808841 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99981633e-01 -4.42938382e-03 4.13698865e-03 -4.56376161e+00] [ 4.41480827e-03 9.99984039e-01 3.52574004e-03 -5.81623140e+00] [-4.15253948e-03 -3.50741127e-03 9.99985227e-01 5.15775218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471652532 meters 0.13948212834785453 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99979978e-01 -4.60989225e-03 4.33506297e-03 -4.56398139e+00] [ 4.59699920e-03 9.99984995e-01 2.97940730e-03 -5.81462699e+00] [-4.34873267e-03 -2.95941936e-03 9.99986165e-01 5.15203908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501652532 meters 0.13911020577185315 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99979886e-01 -4.58392942e-03 4.38358735e-03 -4.56439304e+00] [ 4.57112800e-03 9.99985272e-01 2.92588195e-03 -5.81387821e+00] [-4.39693483e-03 -2.90578516e-03 9.99986112e-01 5.15656770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531652532 meters 0.1397207790529504 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980456e-01 -4.40836326e-03 4.43328520e-03 -4.56507764e+00] [ 4.39427153e-03 9.99985278e-01 3.18335186e-03 -5.81383691e+00] [-4.44725331e-03 -3.16380858e-03 9.99985106e-01 5.16620786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561652532 meters 0.14298448573447362 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99981083e-01 -4.13409461e-03 4.55440933e-03 -4.56595793e+00] [ 4.11790127e-03 9.99985187e-01 3.55918666e-03 -5.81420288e+00] [-4.56905589e-03 -3.54036472e-03 9.99983295e-01 5.17591005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591652532 meters 0.14186206801758458 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980963e-01 -4.17675338e-03 4.54180102e-03 -4.56594371e+00] [ 4.16095237e-03 9.99985278e-01 3.48291872e-03 -5.81398200e+00] [-4.55628145e-03 -3.46395420e-03 9.99983621e-01 5.17634978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62165253199998 meters 0.13825574369549645 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980078e-01 -4.26974463e-03 4.64906301e-03 -4.56613703e+00] [ 4.25499129e-03 9.99985895e-01 3.17868001e-03 -5.81291675e+00] [-4.66256959e-03 -3.15883496e-03 9.99984141e-01 5.17466720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65165253199999 meters 0.1368578974684559 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979241e-01 -4.15411888e-03 4.92555679e-03 -4.56723084e+00] [ 4.13899035e-03 9.99986698e-01 3.07766219e-03 -5.81161779e+00] [-4.93827625e-03 -3.05721147e-03 9.99983133e-01 5.18069019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68165253199999 meters 0.15455279951510234 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978379e-01 -4.17653132e-03 5.07922505e-03 -4.56760926e+00] [ 4.16191655e-03 9.99987179e-01 2.88453688e-03 -5.81083824e+00] [-5.09120729e-03 -2.86333520e-03 9.99982940e-01 5.18032429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71165253199999 meters 0.14432059614188383 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978343e-01 -4.06827198e-03 5.17322105e-03 -4.56803628e+00] [ 4.05270794e-03 9.99987241e-01 3.01551154e-03 -5.81107209e+00] [-5.18542296e-03 -2.99448068e-03 9.99982072e-01 5.18397537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74165253199999 meters 0.15000663783459672 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99980498e-01 -4.07082859e-03 4.73619415e-03 -4.56711659e+00] [ 4.05437495e-03 9.99985731e-01 3.47844980e-03 -5.81292997e+00] [-4.75028674e-03 -3.45917966e-03 9.99982734e-01 5.18834774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77165253199999 meters 0.1536115663230724 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978129e-01 -4.39330486e-03 4.94373969e-03 -4.56710136e+00] [ 4.37997900e-03 9.99986754e-01 2.70310776e-03 -5.81076364e+00] [-4.95554979e-03 -2.68139516e-03 9.99984126e-01 5.17829885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80165253199999 meters 0.14582993035397093 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99976037e-01 -4.55315650e-03 5.21484601e-03 -4.56754004e+00] [ 4.54207631e-03 9.99987406e-01 2.13461502e-03 -5.80873677e+00] [-5.22449957e-03 -2.11087764e-03 9.99984124e-01 5.17322473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83165253199999 meters 0.15052757049218954 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99977439e-01 -4.34110253e-03 5.12609109e-03 -4.56746824e+00] [ 4.32735321e-03 9.99987018e-01 2.69027507e-03 -5.81071384e+00] [-5.13770330e-03 -2.66803197e-03 9.99983243e-01 5.17674515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861652532 meters 0.14675085414127553 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99978625e-01 -4.20033490e-03 5.01060029e-03 -4.56737262e+00] [ 4.18466463e-03 9.99986334e-01 3.13381901e-03 -5.81217938e+00] [-5.02369490e-03 -3.11278434e-03 9.99982536e-01 5.18140435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891652532 meters 0.14413511452436734 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979396e-01 -4.12149552e-03 4.92148458e-03 -4.56717794e+00] [ 4.10483764e-03 9.99985829e-01 3.39004506e-03 -5.81326598e+00] [-4.93538689e-03 -3.36977331e-03 9.99982143e-01 5.18276603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921652532 meters 0.14884317929255886 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99979442e-01 -3.98479417e-03 5.02356381e-03 -4.56757686e+00] [ 3.96703882e-03 9.99985867e-01 3.53943707e-03 -5.81365014e+00] [-5.03759674e-03 -3.51943563e-03 9.99981118e-01 5.18539974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951652532 meters 0.14554480394608896 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99980769e-01 -3.87262099e-03 4.84403284e-03 -4.56717339e+00] [ 3.85310476e-03 9.99984449e-01 4.03178554e-03 -5.81582251e+00] [-4.85957109e-03 -4.01304344e-03 9.99980140e-01 5.18779723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981652532 meters 0.15125369803283364 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99981071e-01 -3.78043197e-03 4.85440985e-03 -4.56734982e+00] [ 3.75987036e-03 9.99983952e-01 4.23781824e-03 -5.81630650e+00] [-4.87035273e-03 -4.21948608e-03 9.99979238e-01 5.19074247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01165253199999 meters 0.14433849552525843 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99980862e-01 -3.84002056e-03 4.85067390e-03 -4.56715146e+00] [ 3.81969658e-03 9.99983917e-01 4.19226829e-03 -5.81649856e+00] [-4.86669428e-03 -4.17365996e-03 9.99979448e-01 5.18782166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04165253199999 meters 0.14942787472440344 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99980577e-01 -3.88960072e-03 4.87006266e-03 -4.56701421e+00] [ 3.86942808e-03 9.99983924e-01 4.14476455e-03 -5.81669437e+00] [-4.88610585e-03 -4.12583969e-03 9.99979551e-01 5.18512810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07165253199999 meters 0.14252604582540082 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99981598e-01 -3.98131887e-03 4.57748160e-03 -4.56587429e+00] [ 3.96150107e-03 9.99982777e-01 4.33035682e-03 -5.81842296e+00] [-4.59464329e-03 -4.31214343e-03 9.99980147e-01 5.17918127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10165253199999 meters 0.14596700723685946 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99981399e-01 -4.05397634e-03 4.55712951e-03 -4.56557988e+00] [ 4.03446803e-03 9.99982694e-01 4.28190449e-03 -5.81871199e+00] [-4.57440938e-03 -4.26343925e-03 9.99980449e-01 5.17548776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13165253199999 meters 0.1457902997865343 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99982127e-01 -4.12380836e-03 4.32899359e-03 -4.56483355e+00] [ 4.10456606e-03 9.99981699e-01 4.44449651e-03 -5.81989988e+00] [-4.34724262e-03 -4.42664843e-03 9.99980753e-01 5.17349189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16165253199999 meters 0.1524894308030503 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99982771e-01 -4.01696191e-03 4.28039004e-03 -4.56488090e+00] [ 3.99690862e-03 9.99981046e-01 4.68322008e-03 -5.82075991e+00] [-4.29912123e-03 -4.66603107e-03 9.99979873e-01 5.17689448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19165253199999 meters 0.1390887400265013 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99981974e-01 -4.07634602e-03 4.40851039e-03 -4.56512903e+00] [ 4.05653490e-03 9.99981676e-01 4.49347884e-03 -5.82017129e+00] [-4.42674658e-03 -4.47551456e-03 9.99980187e-01 5.17540474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221652532 meters 0.1385225883059514 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99982247e-01 -4.06139332e-03 4.36014015e-03 -4.56498052e+00] [ 4.04130058e-03 9.99981220e-01 4.60723874e-03 -5.82073220e+00] [-4.37877008e-03 -4.58953631e-03 9.99979881e-01 5.17516782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251652532 meters 0.14103872441116158 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99982421e-01 -4.11638939e-03 4.26757315e-03 -4.56460672e+00] [ 4.09659895e-03 9.99980863e-01 4.63581475e-03 -5.82120035e+00] [-4.28657431e-03 -4.61825073e-03 9.99980148e-01 5.17333745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281652532 meters 0.14169915668575803 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99981060e-01 -4.39404846e-03 4.30958100e-03 -4.56416138e+00] [ 4.37633596e-03 9.99981974e-01 4.11088388e-03 -5.82011878e+00] [-4.32756674e-03 -4.09194585e-03 9.99982264e-01 5.16350528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311652532 meters 0.14215374114792434 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99980080e-01 -4.54029658e-03 4.38455477e-03 -4.56416012e+00] [ 4.52373146e-03 9.99982621e-01 3.78061580e-03 -5.81910810e+00] [-4.40164369e-03 -3.76070594e-03 9.99983241e-01 5.15994061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341652532 meters 0.1443823085426971 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99980109e-01 -4.42037322e-03 4.49916899e-03 -4.56465586e+00] [ 4.40316936e-03 9.99982985e-01 3.82653441e-03 -5.81892370e+00] [-4.51600715e-03 -3.80664769e-03 9.99982557e-01 5.16278938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37165253199998 meters 0.1469965932140814 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99980385e-01 -4.23184785e-03 4.61756996e-03 -4.56499425e+00] [ 4.21346642e-03 9.99983190e-01 3.98325151e-03 -5.81972775e+00] [-4.63434885e-03 -3.96371740e-03 9.99981406e-01 5.16316988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40165253199999 meters 0.14506436851201898 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99981052e-01 -4.09144638e-03 4.59959346e-03 -4.56516036e+00] [ 4.07174149e-03 9.99982528e-01 4.28528300e-03 -5.82057545e+00] [-4.61704611e-03 -4.26647344e-03 9.99980240e-01 5.16714328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43165253199999 meters 0.14454197048395698 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99980607e-01 -4.16756525e-03 4.62782892e-03 -4.56518672e+00] [ 4.14872419e-03 9.99983098e-01 4.07341645e-03 -5.81987407e+00] [-4.64472693e-03 -4.05413787e-03 9.99980995e-01 5.16603800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46165253199999 meters 0.14721718384433746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99979001e-01 -4.30596234e-03 4.84308141e-03 -4.56552925e+00] [ 4.28880700e-03 9.99984512e-01 3.54706322e-03 -5.81819650e+00] [-4.85827992e-03 -3.52621769e-03 9.99981981e-01 5.16183206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49165253199999 meters 0.14474880829695533 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99977332e-01 -4.42398002e-03 5.07584038e-03 -4.56595232e+00] [ 4.40887993e-03 9.99985834e-01 2.98223594e-03 -5.81627076e+00] [-5.08896182e-03 -2.95978957e-03 9.99982671e-01 5.15779213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52165253199999 meters 0.1532262457891736 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975526e-01 -4.48716594e-03 5.36766771e-03 -4.56658686e+00] [ 4.47365327e-03 9.99986801e-01 2.52678303e-03 -5.81459116e+00] [-5.37893495e-03 -2.50270810e-03 9.99982402e-01 5.15548697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55165253199999 meters 0.15251543742663626 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974380e-01 -4.33646262e-03 5.69517553e-03 -4.56770806e+00] [ 4.32267860e-03 9.99987704e-01 2.43038150e-03 -5.81359217e+00] [-5.70564476e-03 -2.40570082e-03 9.99980829e-01 5.16005335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58165253199999 meters 0.15123440474116032 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99978125e-01 -3.78687010e-03 5.42293882e-03 -4.56800134e+00] [ 3.76638094e-03 9.99985750e-01 3.78348015e-03 -5.81728502e+00] [-5.43718909e-03 -3.76297254e-03 9.99978138e-01 5.17867109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611652532 meters 0.16063820544864343 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99978176e-01 -3.87912336e-03 5.34781352e-03 -4.56771677e+00] [ 3.85937822e-03 9.99985716e-01 3.69757791e-03 -5.81722013e+00] [-5.36208049e-03 -3.67685798e-03 9.99978864e-01 5.17750674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641652532 meters 0.1561293254778673 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99977047e-01 -4.02327150e-03 5.45151983e-03 -4.56782805e+00] [ 4.00506567e-03 9.99986380e-01 3.34639958e-03 -5.81605719e+00] [-5.46490905e-03 -3.32448908e-03 9.99979541e-01 5.17453582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671652532 meters 0.15329208414629097 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975661e-01 -4.25103208e-03 5.53230734e-03 -4.56769988e+00] [ 4.23528528e-03 9.99986956e-01 2.85494570e-03 -5.81471093e+00] [-5.54437164e-03 -2.83144532e-03 9.99980621e-01 5.16854414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701652532 meters 0.14502083847869632 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99973062e-01 -4.50981389e-03 5.79111780e-03 -4.56777116e+00] [ 4.49740980e-03 9.99987569e-01 2.15315578e-03 -5.81277812e+00] [-5.80075614e-03 -2.12705275e-03 9.99980913e-01 5.15790785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731652532 meters 0.14502083847869632 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99973062e-01 -4.50981389e-03 5.79111780e-03 -4.56777116e+00] [ 4.49740980e-03 9.99987569e-01 2.15315578e-03 -5.81277812e+00] [-5.80075614e-03 -2.12705275e-03 9.99980913e-01 5.15790785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76165253199999 meters 0.15039687196783041 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974861e-01 -4.60730993e-03 5.38977838e-03 -4.56675539e+00] [ 4.59411490e-03 9.99986426e-01 2.45798268e-03 -5.81417820e+00] [-5.40102991e-03 -2.43315963e-03 9.99982454e-01 5.15922285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79165253199999 meters 0.14963625225594998 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975198e-01 -4.30490204e-03 5.57413756e-03 -4.56783116e+00] [ 4.28930880e-03 9.99986863e-01 2.80636621e-03 -5.81432608e+00] [-5.58614547e-03 -2.78238741e-03 9.99980526e-01 5.16914852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82165253199999 meters 0.14657040694132395 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99976355e-01 -4.11734146e-03 5.50796997e-03 -4.56810018e+00] [ 4.09930003e-03 9.99986209e-01 3.28280163e-03 -5.81535406e+00] [-5.52141043e-03 -3.26014519e-03 9.99979443e-01 5.17715254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85165253199999 meters 0.14596999024947346 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99977455e-01 -4.26531879e-03 5.18610736e-03 -4.56722288e+00] [ 4.24787110e-03 9.99985297e-01 3.37068719e-03 -5.81591470e+00] [-5.20040816e-03 -3.34858128e-03 9.99980871e-01 5.17646879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88165253199999 meters 0.14799175773031698 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99975305e-01 -4.71009042e-03 5.21580733e-03 -4.56660794e+00] [ 4.69674783e-03 9.99985674e-01 2.56740616e-03 -5.81385035e+00] [-5.22782533e-03 -2.54284543e-03 9.99983102e-01 5.16451906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91165253199999 meters 0.14658182314840199 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974589e-01 -4.64631150e-03 5.40670087e-03 -4.56724071e+00] [ 4.63295128e-03 9.99986190e-01 2.48095517e-03 -5.81314323e+00] [-5.41815349e-03 -2.45584315e-03 9.99982306e-01 5.16652164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94165253199999 meters 0.14497408595536848 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974673e-01 -4.64531600e-03 5.39200664e-03 -4.56720630e+00] [ 4.63168516e-03 9.99986054e-01 2.53771353e-03 -5.81337164e+00] [-5.40371992e-03 -2.51267518e-03 9.99982243e-01 5.16686885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971652532 meters 0.1428154692132072 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99974928e-01 -4.62511957e-03 5.36212794e-03 -4.56719309e+00] [ 4.61138647e-03 9.99986063e-01 2.57066920e-03 -5.81338469e+00] [-5.37394286e-03 -2.54587791e-03 9.99982319e-01 5.16769127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001652532 meters 0.1447415018119097 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99973158e-01 -4.64064588e-03 5.66990647e-03 -4.56802262e+00] [ 4.62812978e-03 9.99986829e-01 2.21859150e-03 -5.81170229e+00] [-5.68012749e-03 -2.19229088e-03 9.99981465e-01 5.16822739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031652532 meters 0.16283228478905493 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99985808e-01 -4.78459781e-04 5.30611715e-03 -4.56697133e+00] [ 4.43246411e-04 9.99977886e-01 6.63556401e-03 -5.81265602e+00] [-5.30917466e-03 -6.63311793e-03 9.99963907e-01 5.16646628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061652532 meters 0.16260894604061948 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99969560e-01 -4.59119677e-03 6.30875584e-03 -4.56916553e+00] [ 4.58077619e-03 9.99988122e-01 1.66522246e-03 -5.80959460e+00] [-6.31632627e-03 -1.63627277e-03 9.99978713e-01 5.15991311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091652532 meters 0.15135457526981383 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99970869e-01 -4.98041378e-03 5.78417780e-03 -4.56718337e+00] [ 4.97069629e-03 9.99986213e-01 1.69317465e-03 -5.81104464e+00] [-5.79253077e-03 -1.66437393e-03 9.99981838e-01 5.14964290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12165253199998 meters 0.14378765698046422 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99971036e-01 -4.97136847e-03 5.76296196e-03 -4.56708160e+00] [ 4.96111245e-03 9.99986087e-01 1.79257537e-03 -5.81135245e+00] [-5.77179334e-03 -1.76393275e-03 9.99981787e-01 5.14857259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15165253199999 meters 0.1424266145845333 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99970647e-01 -5.02852135e-03 5.78092716e-03 -4.56704200e+00] [ 5.01864580e-03 9.99985925e-01 1.72153679e-03 -5.81117658e+00] [-5.78950258e-03 -1.69247383e-03 9.99981808e-01 5.14680600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18165253199999 meters 0.14205895884657346 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99970495e-01 -4.90433969e-03 5.91240715e-03 -4.56754199e+00] [ 4.89337183e-03 9.99986282e-01 1.86809941e-03 -5.81121774e+00] [-5.92148785e-03 -1.83911269e-03 9.99980777e-01 5.14905763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21165253199999 meters 0.15230005859558599 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99970218e-01 -4.69923530e-03 6.12205721e-03 -4.56834143e+00] [ 4.68635131e-03 9.99986778e-01 2.11716873e-03 -5.81145481e+00] [-6.13192534e-03 -2.08841556e-03 9.99979019e-01 5.15282655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24165253199999 meters 0.14358663162635527 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99971199e-01 -4.67421635e-03 5.97944810e-03 -4.56798646e+00] [ 4.66004793e-03 9.99986307e-01 2.38126148e-03 -5.81243710e+00] [-5.99049675e-03 -2.35332838e-03 9.99979288e-01 5.15342564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27165253199999 meters 0.15470130765238746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99970418e-01 -4.75393871e-03 6.04682281e-03 -4.56806271e+00] [ 4.74079774e-03 9.99986374e-01 2.18568319e-03 -5.81181208e+00] [-6.05713102e-03 -2.15695177e-03 9.99979329e-01 5.15119719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30165253199999 meters 0.15470130765238746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99970418e-01 -4.75393871e-03 6.04682281e-03 -4.56806271e+00] [ 4.74079774e-03 9.99986374e-01 2.18568319e-03 -5.81181208e+00] [-6.05713102e-03 -2.15695177e-03 9.99979329e-01 5.15119719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33165253199999 meters 0.15145658506707843 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99970529e-01 -4.44624134e-03 6.25880549e-03 -4.56903711e+00] [ 4.42974380e-03 9.99986685e-01 2.64729365e-03 -5.81259964e+00] [-6.27049266e-03 -2.61949073e-03 9.99976909e-01 5.15889162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361652532 meters 0.146763291410786 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99972429e-01 -4.26300552e-03 6.08019393e-03 -4.56879314e+00] [ 4.24362167e-03 9.99985884e-01 3.19737790e-03 -5.81436352e+00] [-6.09373854e-03 -3.17148770e-03 9.99976404e-01 5.16331292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391652532 meters 0.14618536682982056 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99972271e-01 -4.15187585e-03 6.18221561e-03 -4.56926326e+00] [ 4.13166424e-03 9.99986090e-01 3.27850477e-03 -5.81414111e+00] [-6.19574156e-03 -3.25287102e-03 9.99975516e-01 5.16643736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421652532 meters 0.14761706050777276 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99969362e-01 -4.21573014e-03 6.59559142e-03 -4.57009056e+00] [ 4.19732082e-03 9.99987264e-01 2.80251212e-03 -5.81249011e+00] [-6.60732206e-03 -2.77474244e-03 9.99974322e-01 5.16207978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451652532 meters 0.1457872595639531 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99968822e-01 -4.00893801e-03 6.80321423e-03 -4.57101273e+00] [ 3.98847904e-03 9.99987491e-01 3.01815840e-03 -5.81257525e+00] [-6.81522874e-03 -2.99092982e-03 9.99972303e-01 5.16888366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481652532 meters 0.14514965974710722 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99970759e-01 -3.82357276e-03 6.62286226e-03 -4.57091407e+00] [ 3.79961664e-03 9.99986207e-01 3.62599857e-03 -5.81430259e+00] [-6.63663518e-03 -3.60072821e-03 9.99971495e-01 5.17636902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51165253199999 meters 0.1443119563855062 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99971425e-01 -3.81743261e-03 6.52506910e-03 -4.57058365e+00] [ 3.79262553e-03 9.99985550e-01 3.80996571e-03 -5.81512813e+00] [-6.53951910e-03 -3.78510970e-03 9.99971453e-01 5.17571984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54165253199999 meters 0.15306296862412835 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972173e-01 -3.90917775e-03 6.35386460e-03 -4.57000375e+00] [ 3.88456722e-03 9.99984924e-01 3.88105333e-03 -5.81570271e+00] [-6.36894053e-03 -3.85626332e-03 9.99972283e-01 5.17399561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57165253199999 meters 0.14290504056918493 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99971548e-01 -4.04543961e-03 6.36683849e-03 -4.56967979e+00] [ 4.02205158e-03 9.99985133e-01 3.68194043e-03 -5.81555623e+00] [-6.38163890e-03 -3.65622792e-03 9.99972953e-01 5.16788614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60165253199999 meters 0.1467249202230133 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972310e-01 -4.10655757e-03 6.20614559e-03 -4.56912038e+00] [ 4.08292152e-03 9.99984382e-01 3.81637473e-03 -5.81638861e+00] [-6.22172083e-03 -3.79092985e-03 9.99973459e-01 5.16615264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63165253199999 meters 0.14037864468867292 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972218e-01 -4.00466858e-03 6.28697975e-03 -4.56939237e+00] [ 3.97978068e-03 9.99984215e-01 3.96617279e-03 -5.81668632e+00] [-6.30276372e-03 -3.94104180e-03 9.99972371e-01 5.16732179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66165253199999 meters 0.1382171352955944 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99971684e-01 -3.91338397e-03 6.42776392e-03 -4.56992768e+00] [ 3.88756449e-03 9.99984345e-01 4.02446147e-03 -5.81659119e+00] [-6.44341256e-03 -3.99935917e-03 9.99971243e-01 5.17034074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69165253199999 meters 0.13922781450253022 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972200e-01 -3.82240257e-03 6.40228759e-03 -4.57006119e+00] [ 3.79536078e-03 9.99983848e-01 4.23060631e-03 -5.81710999e+00] [-6.41835526e-03 -4.20618971e-03 9.99970556e-01 5.17410895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721652532 meters 0.1436534921102821 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99971506e-01 -3.80349027e-03 6.52074016e-03 -4.57032175e+00] [ 3.77626036e-03 9.99984121e-01 4.18313144e-03 -5.81697730e+00] [-6.53654711e-03 -4.15838824e-03 9.99969990e-01 5.17353641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751652532 meters 0.14073755126783646 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972059e-01 -3.39649077e-03 6.65924494e-03 -4.57111920e+00] [ 3.36446120e-03 9.99982747e-01 4.81510791e-03 -5.81862592e+00] [-6.67548452e-03 -4.79256860e-03 9.99966234e-01 5.18161411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781652532 meters 0.1533784359282948 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99973100e-01 -3.35139455e-03 6.52439977e-03 -4.57080434e+00] [ 3.31819191e-03 9.99981524e-01 5.09318584e-03 -5.81970368e+00] [-6.54134850e-03 -5.07139962e-03 9.99965745e-01 5.18308061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811652532 meters 0.14029430213569938 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99973246e-01 -3.36756109e-03 6.49366494e-03 -4.57064685e+00] [ 3.33417346e-03 9.99981203e-01 5.14555848e-03 -5.82006417e+00] [-6.51087086e-03 -5.12376981e-03 9.99965677e-01 5.18218446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841652532 meters 0.15521877612650775 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99973695e-01 -3.48925719e-03 6.35885110e-03 -4.57002068e+00] [ 3.45653605e-03 9.99980767e-01 5.14950859e-03 -5.82065561e+00] [-6.37669676e-03 -5.12739354e-03 9.99966523e-01 5.17813124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87165253199998 meters 0.14883966133385154 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99975656e-01 -3.51078722e-03 6.02999994e-03 -4.56918709e+00] [ 3.47712564e-03 9.99978365e-01 5.58379278e-03 -5.82265330e+00] [-6.04947299e-03 -5.56268979e-03 9.99966230e-01 5.17966633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90165253199999 meters 0.13136024148958553 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99976619e-01 -3.55518604e-03 5.84144793e-03 -4.56858788e+00] [ 3.52158177e-03 9.99977251e-01 5.75297955e-03 -5.82367327e+00] [-5.86176795e-03 -5.73227390e-03 9.99966390e-01 5.17842872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93165253199999 meters 0.14841535243258705 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99977427e-01 -3.74534026e-03 5.57831493e-03 -4.56760830e+00] [ 3.71295235e-03 9.99976257e-01 5.80512231e-03 -5.82458668e+00] [-5.59992464e-03 -5.78427925e-03 9.99967591e-01 5.17399967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96165253199999 meters 0.13850722386682382 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99976332e-01 -3.97459721e-03 5.61587084e-03 -4.56734566e+00] [ 3.94452940e-03 9.99977882e-01 5.35504716e-03 -5.82350628e+00] [-5.63703078e-03 -5.33276845e-03 9.99969892e-01 5.16755428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99165253199999 meters 0.13990381129793242 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99974012e-01 -4.15503684e-03 5.89168767e-03 -4.56766113e+00] [ 4.12684968e-03 9.99980020e-01 4.78833782e-03 -5.82187344e+00] [-5.91146567e-03 -4.76389927e-03 9.99971180e-01 5.16027008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02165253199999 meters 0.1495376722080769 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99972147e-01 -4.30803631e-03 6.09482225e-03 -4.56797188e+00] [ 4.28197487e-03 9.99981662e-01 4.28260252e-03 -5.82024173e+00] [-6.11316009e-03 -4.25638536e-03 9.99972256e-01 5.15612268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05165253199999 meters 0.14529131300085152 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99968578e-01 -4.11769022e-03 6.77398698e-03 -4.56976443e+00] [ 4.09149996e-03 9.99984119e-01 3.87562431e-03 -5.81824145e+00] [-6.78983803e-03 -3.84778676e-03 9.99969546e-01 5.15630026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08165253199999 meters 0.1469025991442549 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99966161e-01 -4.10883230e-03 7.12703558e-03 -4.57063548e+00] [ 4.08406554e-03 9.99985584e-01 3.48612322e-03 -5.81674121e+00] [-7.14125672e-03 -3.45689798e-03 9.99968526e-01 5.15534524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111652532 meters 0.1414643573782649 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99965376e-01 -4.05326153e-03 7.26763644e-03 -4.57105919e+00] [ 4.02834501e-03 9.99985970e-01 3.43978840e-03 -5.81639619e+00] [-7.28147683e-03 -3.41039275e-03 9.99967674e-01 5.15635120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141652532 meters 0.14684408638657992 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99966541e-01 -4.01743002e-03 7.12583388e-03 -4.57071279e+00] [ 3.99111231e-03 9.99985177e-01 3.70366422e-03 -5.81752957e+00] [-7.14060747e-03 -3.67510029e-03 9.99967752e-01 5.15754534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171652532 meters 0.14825205237322528 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99968005e-01 -3.84255744e-03 7.01599863e-03 -4.57069531e+00] [ 3.81366578e-03 9.99984213e-01 4.12671444e-03 -5.81879733e+00] [-7.03174500e-03 -4.09982573e-03 9.99966872e-01 5.16267127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201652532 meters 0.14561986612104225 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99966481e-01 -4.04268138e-03 7.11988067e-03 -4.57055821e+00] [ 4.01626563e-03 9.99985013e-01 3.72053745e-03 -5.81775161e+00] [-7.13481492e-03 -3.69181741e-03 9.99967732e-01 5.15543183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231652532 meters 0.14363404090642587 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99965958e-01 -4.18244078e-03 7.11260339e-03 -4.57026503e+00] [ 4.15745728e-03 9.99985149e-01 3.52373306e-03 -5.81744330e+00] [-7.12723557e-03 -3.49404276e-03 9.99968497e-01 5.15071234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26165253199999 meters 0.1411430434950959 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99968208e-01 -4.30203590e-03 6.71377441e-03 -4.56918698e+00] [ 4.27650625e-03 9.99983589e-01 3.81231355e-03 -5.81911172e+00] [-6.73006494e-03 -3.78348085e-03 9.99970195e-01 5.15060546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29165253199999 meters 0.15886810439376262 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967219e-01 -4.20499204e-03 6.91940705e-03 -4.56993361e+00] [ 4.17871928e-03 9.99984022e-01 3.80705304e-03 -5.81861466e+00] [-6.93530512e-03 -3.77801398e-03 9.99968814e-01 5.15432502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32165253199999 meters 0.14096100665467923 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967802e-01 -4.12866626e-03 6.88101332e-03 -4.56999090e+00] [ 4.10098603e-03 9.99983462e-01 4.03196347e-03 -5.81926560e+00] [-6.89754616e-03 -4.00361471e-03 9.99968197e-01 5.15752383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35165253199999 meters 0.14312784023847117 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99968343e-01 -4.07241642e-03 6.83579226e-03 -4.56988695e+00] [ 4.04365008e-03 9.99982934e-01 4.21675383e-03 -5.82005369e+00] [-6.85284797e-03 -4.18897878e-03 9.99967745e-01 5.15823899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38165253199999 meters 0.15268942109250472 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99968988e-01 -4.09489956e-03 6.72723244e-03 -4.56955367e+00] [ 4.06581789e-03 9.99982356e-01 4.33097987e-03 -5.82071652e+00] [-6.74484867e-03 -4.30349386e-03 9.99967993e-01 5.15790382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41165253199999 meters 0.1420789674861447 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99969607e-01 -4.44084971e-03 6.40817185e-03 -4.56817084e+00] [ 4.41454752e-03 9.99981798e-01 4.11279974e-03 -5.82103270e+00] [-6.42631953e-03 -4.08438555e-03 9.99971010e-01 5.14799437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44165253199999 meters 0.15010323208707985 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99969372e-01 -4.59563609e-03 6.33527843e-03 -4.56764416e+00] [ 4.57047290e-03 9.99981632e-01 3.98068692e-03 -5.82115387e+00] [-6.35345585e-03 -3.95160978e-03 9.99972009e-01 5.14243214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471652532 meters 0.13640218684266497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99969393e-01 -4.62041960e-03 6.31381516e-03 -4.56747844e+00] [ 4.59519930e-03 9.99981429e-01 4.00314971e-03 -5.82145624e+00] [-6.33219414e-03 -3.97401395e-03 9.99972055e-01 5.14080719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501652532 meters 0.13067129609053332 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99972269e-01 -4.67348518e-03 5.79820461e-03 -4.56628413e+00] [ 4.64633851e-03 9.99978224e-01 4.68657959e-03 -5.82419739e+00] [-5.81998101e-03 -4.65950920e-03 9.99972208e-01 5.14534602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531652532 meters 0.14116417471363385 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.51 [[ 9.99973377e-01 -4.67484432e-03 5.60279351e-03 -4.56582304e+00] [ 4.64720721e-03 9.99977021e-01 4.93564778e-03 -5.82525871e+00] [-5.62573815e-03 -4.90947903e-03 9.99972124e-01 5.14689708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561652532 meters 0.13901571358648068 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99974659e-01 -4.47294128e-03 5.53834291e-03 -4.56591103e+00] [ 4.44287796e-03 9.99975395e-01 5.42867211e-03 -5.82677587e+00] [-5.56248877e-03 -5.40392836e-03 9.99969928e-01 5.15171806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591652532 meters 0.13860553258948752 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99974607e-01 -4.50244212e-03 5.52386961e-03 -4.56578565e+00] [ 4.47242586e-03 9.99975233e-01 5.43429127e-03 -5.82700287e+00] [-5.54820038e-03 -5.40944818e-03 9.99969977e-01 5.15066997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62165253199998 meters 0.13784124626922037 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.51 [[ 9.99973814e-01 -4.61234047e-03 5.57646478e-03 -4.56575084e+00] [ 4.58323922e-03 9.99975872e-01 5.22014916e-03 -5.82645408e+00] [-5.60040734e-03 -5.19445419e-03 9.99970826e-01 5.14772268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65165253199999 meters 0.1415904309011328 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99968524e-01 -4.79313148e-03 6.32274065e-03 -4.56712590e+00] [ 4.76791861e-03 9.99980646e-01 3.99671304e-03 -5.82190953e+00] [-6.34177505e-03 -3.96644093e-03 9.99972024e-01 5.13746729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68165253199999 meters 0.13720142916522396 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99970026e-01 -4.74682918e-03 6.11670353e-03 -4.56683735e+00] [ 4.72056770e-03 9.99979610e-01 4.30071187e-03 -5.82286337e+00] [-6.13699355e-03 -4.27170865e-03 9.99972045e-01 5.14225765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71165253199999 meters 0.1367323136017117 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.51 [[ 9.99970925e-01 -4.54587548e-03 6.12251262e-03 -4.56727381e+00] [ 4.51757832e-03 9.99979087e-01 4.62774897e-03 -5.82345881e+00] [-6.14342175e-03 -4.59995549e-03 9.99970549e-01 5.14981207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74165253199999 meters 0.1370378814874228 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99969731e-01 -4.44834140e-03 6.38359351e-03 -4.56820328e+00] [ 4.41978913e-03 9.99980198e-01 4.47991734e-03 -5.82239799e+00] [-6.40339531e-03 -4.45156760e-03 9.99969590e-01 5.15425815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77165253199999 meters 0.1416700053278142 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99967452e-01 -4.48048956e-03 6.70967837e-03 -4.56917617e+00] [ 4.45366175e-03 9.99982050e-01 4.00799273e-03 -5.82024817e+00] [-6.72751570e-03 -3.97797964e-03 9.99969458e-01 5.15625888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80165253199999 meters 0.1459382069123685 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99976200e-01 -4.47856805e-04 6.88474925e-03 -4.56960474e+00] [ 3.96194306e-04 9.99971770e-01 7.50343755e-03 -5.81721934e+00] [-6.88791536e-03 -7.50053126e-03 9.99948148e-01 5.15418218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83165253199999 meters 0.14323761584933103 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99971837e-01 -6.31502459e-04 7.47841711e-03 -4.57068928e+00] [ 5.83107705e-04 9.99978889e-01 6.47166954e-03 -5.81369859e+00] [-7.48234610e-03 -6.46712655e-03 9.99951094e-01 5.14603364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861652532 meters 0.1490439565367253 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972525e-01 -1.02293468e-03 7.34179235e-03 -4.57008982e+00] [ 9.80608260e-04 9.99982893e-01 5.76642121e-03 -5.81175008e+00] [-7.34756542e-03 -5.75906336e-03 9.99956422e-01 5.14107237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891652532 meters 0.14283377402852235 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99969653e-01 -1.14525344e-03 7.70590239e-03 -4.57075805e+00] [ 1.10587506e-03 9.99986320e-01 5.11247990e-03 -5.80961911e+00] [-7.71165206e-03 -5.10380299e-03 9.99957240e-01 5.13585213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921652532 meters 0.14779744848028456 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99966407e-01 -1.31381292e-03 8.09064988e-03 -4.57154332e+00] [ 1.27874535e-03 9.99989773e-01 4.33798185e-03 -5.80687479e+00] [-8.09626644e-03 -4.32749024e-03 9.99957861e-01 5.13189815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951652532 meters 0.14536990318898746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99963529e-01 -1.60141097e-03 8.38900694e-03 -4.57202712e+00] [ 1.57244560e-03 9.99992784e-01 3.45823578e-03 -5.80389510e+00] [-8.39448447e-03 -3.44491840e-03 9.99958832e-01 5.12639079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981652532 meters 0.15369020553731672 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99959041e-01 -1.62581026e-03 8.90359756e-03 -4.57352720e+00] [ 1.60162223e-03 9.99995010e-01 2.72311466e-03 -5.80036186e+00] [-8.90798040e-03 -2.70874293e-03 9.99956654e-01 5.12982544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01165253199999 meters 0.1522513915408193 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99958633e-01 -1.50719902e-03 8.96999013e-03 -4.57403019e+00] [ 1.48172092e-03 9.99994851e-01 2.84633866e-03 -5.80026935e+00] [-8.97423394e-03 -2.83292989e-03 9.99955718e-01 5.13549000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04165253199999 meters 0.15261816496013028 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99957795e-01 -1.38320149e-03 9.08267826e-03 -4.57466672e+00] [ 1.35636941e-03 9.99994700e-01 2.95969952e-03 -5.80009687e+00] [-9.08672398e-03 -2.94725514e-03 9.99954372e-01 5.14157593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07165253199999 meters 0.1514788330997344 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99959466e-01 -1.33254686e-03 8.90449380e-03 -4.57442201e+00] [ 1.30362644e-03 9.99993860e-01 3.25286125e-03 -5.80102303e+00] [-8.90877372e-03 -3.24112126e-03 9.99955063e-01 5.14578940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10165253199999 meters 0.1426262499254896 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99966268e-01 -1.74219722e-03 8.02672135e-03 -4.57207695e+00] [ 1.71317093e-03 9.99991974e-01 3.62166535e-03 -5.80362210e+00] [-8.03296659e-03 -3.60779203e-03 9.99961227e-01 5.14343814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13165253199999 meters 0.1454568437217771 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99970376e-01 -2.17992078e-03 7.38203498e-03 -4.56998591e+00] [ 2.15294467e-03 9.99990984e-01 3.66026814e-03 -5.80532800e+00] [-7.38994752e-03 -3.64426660e-03 9.99966053e-01 5.13617970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16165253199999 meters 0.13920269751583825 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99974652e-01 -2.43870479e-03 6.68933372e-03 -4.56815495e+00] [ 2.41141377e-03 9.99988750e-01 4.08481782e-03 -5.80775679e+00] [-6.69922013e-03 -4.06858352e-03 9.99969283e-01 5.13559670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19165253199999 meters 0.13627958737591706 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.51 [[ 9.99979806e-01 -3.28173208e-03 5.44225886e-03 -4.56440397e+00] [ 3.25911427e-03 9.99986038e-01 4.15963364e-03 -5.81073070e+00] [-5.45583367e-03 -4.14181270e-03 9.99976539e-01 5.12416687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221652532 meters 0.13627958737591706 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.51 [[ 9.99979806e-01 -3.28173208e-03 5.44225886e-03 -4.56440397e+00] [ 3.25911427e-03 9.99986038e-01 4.15963364e-03 -5.81073070e+00] [-5.45583367e-03 -4.14181270e-03 9.99976539e-01 5.12416687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251652532 meters 0.13129736600979436 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.51 [[ 9.99980585e-01 -3.36914080e-03 5.24199194e-03 -4.56385876e+00] [ 3.34704313e-03 9.99985500e-01 4.21858755e-03 -5.81108180e+00] [-5.25612895e-03 -4.20096047e-03 9.99977362e-01 5.12382482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281652532 meters 0.13438792349527712 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.51 [[ 9.99979771e-01 -3.59273551e-03 5.24888050e-03 -4.56355467e+00] [ 3.57262899e-03 9.99986264e-01 3.83499688e-03 -5.81016715e+00] [-5.26258653e-03 -3.81616700e-03 9.99978871e-01 5.11845175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311652532 meters 0.14136953448964884 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.51 [[ 9.99977668e-01 -3.87778800e-03 5.44307610e-03 -4.56355063e+00] [ 3.86073634e-03 9.99987618e-01 3.13974495e-03 -5.80814523e+00] [-5.45518397e-03 -3.11866055e-03 9.99980257e-01 5.10982982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341652532 meters 0.1427298922488892 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99972007e-01 -3.54162012e-03 6.59111320e-03 -4.56615903e+00] [ 3.52805857e-03 9.99991638e-01 2.06804122e-03 -5.80345434e+00] [-6.59838231e-03 -2.04472949e-03 9.99976140e-01 5.10432063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37165253199998 meters 0.14927833765208784 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99968824e-01 -3.13049398e-03 7.24922178e-03 -4.56824565e+00] [ 3.11591420e-03 9.99993102e-01 2.02164061e-03 -5.80211109e+00] [-7.25550051e-03 -1.99898963e-03 9.99971680e-01 5.11251095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40165253199999 meters 0.14690168994442684 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972103e-01 -2.89031464e-03 6.88765901e-03 -4.56769090e+00] [ 2.87090832e-03 9.99991886e-01 2.82577331e-03 -5.80537343e+00] [-6.89577050e-03 -2.80592064e-03 9.99972287e-01 5.11937733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43165253199999 meters 0.14665068892805572 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99974544e-01 -2.76703441e-03 6.57688235e-03 -4.56705564e+00] [ 2.74513980e-03 9.99990669e-01 3.33572540e-03 -5.80763167e+00] [-6.58605105e-03 -3.31758603e-03 9.99972808e-01 5.12284914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46165253199999 meters 0.14504852064065216 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972836e-01 -2.53749997e-03 6.92009286e-03 -4.56821335e+00] [ 2.51469299e-03 9.99991385e-01 3.30247436e-03 -5.80668480e+00] [-6.92841327e-03 -3.28498274e-03 9.99970603e-01 5.12722792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49165253199999 meters 0.1507482650093888 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972365e-01 -2.73440472e-03 6.91313492e-03 -4.56788560e+00] [ 2.71345088e-03 9.99991702e-01 3.03858286e-03 -5.80613923e+00] [-6.92138627e-03 -3.01974044e-03 9.99971487e-01 5.12228712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52165253199999 meters 0.1512713028255816 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99971924e-01 -3.09971592e-03 6.82224546e-03 -4.56713744e+00] [ 3.08252822e-03 9.99992052e-01 2.52843625e-03 -5.80507882e+00] [-6.83002868e-03 -2.50733550e-03 9.99973532e-01 5.11384361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55165253199999 meters 0.1497182958947599 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99973932e-01 -3.05181123e-03 6.54385391e-03 -4.56642494e+00] [ 3.03274647e-03 9.99991134e-01 2.92133140e-03 -5.80707161e+00] [-6.55271125e-03 -2.90140939e-03 9.99974322e-01 5.11412621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58165253199999 meters 0.15009184411333884 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99974322e-01 -3.01663343e-03 6.50045014e-03 -4.56640730e+00] [ 2.99694142e-03 9.99990898e-01 3.03694417e-03 -5.80744066e+00] [-6.50955232e-03 -3.01738472e-03 9.99974260e-01 5.11599548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611652532 meters 0.14881138013159906 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99974095e-01 -2.94304665e-03 6.56867719e-03 -4.56681932e+00] [ 2.92275981e-03 9.99990936e-01 3.09588584e-03 -5.80721069e+00] [-6.57772899e-03 -3.07660697e-03 9.99973634e-01 5.11974526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641652532 meters 0.1410544499863277 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99974221e-01 -2.91419041e-03 6.56234548e-03 -4.56696002e+00] [ 2.89340252e-03 9.99990774e-01 3.17502228e-03 -5.80726335e+00] [-6.57153756e-03 -3.15595293e-03 9.99973427e-01 5.12230456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671652532 meters 0.15780216419530463 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99973043e-01 -3.17763687e-03 6.61928845e-03 -4.56673635e+00] [ 3.15991055e-03 9.99991398e-01 2.68671917e-03 -5.80597261e+00] [-6.62776893e-03 -2.66573039e-03 9.99974483e-01 5.11600096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701652532 meters 0.14617994796945663 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99971977e-01 -3.24522188e-03 6.74645444e-03 -4.56703520e+00] [ 3.22869938e-03 9.99991766e-01 2.45851346e-03 -5.80507226e+00] [-6.75437731e-03 -2.43666229e-03 9.99974220e-01 5.11552215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731652532 meters 0.15525687554993625 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972756e-01 -3.31367587e-03 6.59600246e-03 -4.56636101e+00] [ 3.29699944e-03 9.99991345e-01 2.53753352e-03 -5.80624929e+00] [-6.60435394e-03 -2.51571737e-03 9.99975027e-01 5.11140796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76165253199999 meters 0.15390316979110785 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99973107e-01 -3.09375351e-03 6.64934636e-03 -4.56690963e+00] [ 3.07474589e-03 9.99991163e-01 2.86689437e-03 -5.80674740e+00] [-6.65815707e-03 -2.84637223e-03 9.99973783e-01 5.11817715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79165253199999 meters 0.15345766269818842 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99973641e-01 -2.96020120e-03 6.62979912e-03 -4.56719989e+00] [ 2.93961225e-03 9.99990834e-01 3.11311046e-03 -5.80707947e+00] [-6.63895378e-03 -3.09353937e-03 9.99973177e-01 5.12349707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82165253199999 meters 0.15179157846020364 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.51 [[ 9.99972039e-01 -3.20762800e-03 6.75515836e-03 -4.56724637e+00] [ 3.19043588e-03 9.99991648e-01 2.55427565e-03 -5.80533030e+00] [-6.76329511e-03 -2.53265233e-03 9.99973921e-01 5.11858181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85165253199999 meters 0.15148408459007223 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99968943e-01 -3.30154134e-03 7.15629099e-03 -4.56826672e+00] [ 3.28781537e-03 9.99992735e-01 1.92894512e-03 -5.80239203e+00] [-7.16260749e-03 -1.90535665e-03 9.99972533e-01 5.11804124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88165253199999 meters 0.14967735989862688 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99969272e-01 -3.33458090e-03 7.09480254e-03 -4.56801026e+00] [ 3.32100465e-03 9.99992634e-01 1.92447032e-03 -5.80262358e+00] [-7.10116758e-03 -1.90084931e-03 9.99972980e-01 5.11642422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91165253199999 meters 0.1506460729618135 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99968549e-01 -3.28792055e-03 7.21734807e-03 -4.56848169e+00] [ 3.27465511e-03 9.99992929e-01 1.84904231e-03 -5.80200880e+00] [-7.22337654e-03 -1.82534983e-03 9.99972245e-01 5.11893103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94165253199999 meters 0.15538532214014436 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99967522e-01 1.38398283e-03 7.93970913e-03 -4.57082537e+00] [-1.43042822e-03 9.99981883e-01 5.84706644e-03 -5.79923871e+00] [-7.93147305e-03 -5.85823372e-03 9.99951385e-01 5.12866861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971652532 meters 0.1536651555617581 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99967778e-01 1.25617392e-03 7.92873690e-03 -4.57078260e+00] [-1.30066342e-03 9.99983426e-01 5.60851019e-03 -5.79847460e+00] [-7.92156022e-03 -5.61864209e-03 9.99952839e-01 5.12836208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001652532 meters 0.15872914054683043 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99965990e-01 1.25824348e-03 8.15082916e-03 -4.57135447e+00] [-1.30160903e-03 9.99985016e-01 5.31726805e-03 -5.79740101e+00] [-8.14401661e-03 -5.32769640e-03 9.99952644e-01 5.12867995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031652532 meters 0.1614562100037556 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99957744e-01 -3.01432828e-03 8.68470913e-03 -4.57247136e+00] [ 3.01018704e-03 9.99995349e-01 4.89875070e-04 -5.79541815e+00] [-8.68614538e-03 -4.63711771e-04 9.99962167e-01 5.12488374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061652532 meters 0.15098737424464306 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.51 [[ 9.99957771e-01 -2.84409317e-03 8.73887776e-03 -4.57295873e+00] [ 2.83815925e-03 9.99995733e-01 6.91352020e-04 -5.79553852e+00] [-8.74080674e-03 -6.66520498e-04 9.99961576e-01 5.13037430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091652532 meters 0.16321155310177413 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.51 [[ 9.99955602e-01 -2.98386423e-03 8.93814607e-03 -4.57321735e+00] [ 2.98179104e-03 9.99995524e-01 2.45265270e-04 -5.79402533e+00] [-8.93883791e-03 -2.18602697e-04 9.99960024e-01 5.12539246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12165253199998 meters 0.14968717432743145 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.51 [[ 9.99955264e-01 -3.10465296e-03 8.93483002e-03 -4.57309731e+00] [ 3.10455055e-03 9.99995181e-01 2.53317847e-05 -5.79331565e+00] [-8.93486560e-03 2.40797996e-06 9.99960083e-01 5.12279586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15165253199999 meters 0.17398327165180022 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.51 [[ 9.99954592e-01 -3.26839042e-03 8.95165622e-03 -4.57299202e+00] [ 3.27123112e-03 9.99994604e-01 -3.02714428e-04 -5.79226136e+00] [-8.95061852e-03 3.31983619e-04 9.99959887e-01 5.11961989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18165253199999 meters 0.15903496907176126 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.51 [[ 9.99953016e-01 -2.78159077e-03 9.28593854e-03 -4.57499296e+00] [ 2.77911282e-03 9.99996099e-01 2.79742606e-04 -5.79204968e+00] [-9.28668045e-03 -2.53922792e-04 9.99956846e-01 5.13936315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21165253199999 meters 0.16509048594141945 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.51 [[ 9.99954115e-01 -2.62397764e-03 9.21321214e-03 -4.57521151e+00] [ 2.61805057e-03 9.99996358e-01 6.55324585e-04 -5.79299370e+00] [-9.21489814e-03 -6.31173860e-04 9.99957343e-01 5.14681948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24165253199999 meters 0.1556195970697521 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99953749e-01 -2.02139880e-03 9.40281751e-03 -4.57686671e+00] [ 2.00701889e-03 9.99996802e-01 1.53850431e-03 -5.79421079e+00] [-9.40589737e-03 -1.51956152e-03 9.99954609e-01 5.16669837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27165253199999 meters 0.15941098987028948 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99951945e-01 -2.09180597e-03 9.57766181e-03 -4.57737490e+00] [ 2.07986678e-03 9.99997048e-01 1.25635698e-03 -5.79299332e+00] [-9.58026159e-03 -1.23637634e-03 9.99953344e-01 5.16795529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30165253199999 meters 0.15777460481183392 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99947076e-01 -1.62993674e-03 1.01581720e-02 -4.57970189e+00] [ 1.61561116e-03 9.99997689e-01 1.41829860e-03 -5.79136249e+00] [-1.01604603e-02 -1.40181188e-03 9.99947399e-01 5.18372710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33165253199999 meters 0.15057080736137615 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99946393e-01 -1.48064274e-03 1.02478724e-02 -4.58013920e+00] [ 1.46383082e-03 9.99997571e-01 1.64783434e-03 -5.79191728e+00] [-1.02502874e-02 -1.63274485e-03 9.99946131e-01 5.18796156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361652532 meters 0.15984299205872377 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99947823e-01 -1.38893390e-03 1.01204302e-02 -4.57985711e+00] [ 1.36842844e-03 9.99996998e-01 2.03278813e-03 -5.79366553e+00] [-1.01232232e-02 -2.01883298e-03 9.99946721e-01 5.18962414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391652532 meters 0.16692088366849953 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99949325e-01 -1.42749122e-03 9.96546124e-03 -4.57940737e+00] [ 1.40588953e-03 9.99996648e-01 2.17432451e-03 -5.79456310e+00] [-9.96853166e-03 -2.16020399e-03 9.99947980e-01 5.18914421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421652532 meters 0.15638914552069605 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.52 [[ 9.99950335e-01 -9.79549931e-04 9.91804711e-03 -4.58010790e+00] [ 9.49290593e-04 9.99994882e-01 3.05518525e-03 -5.79663390e+00] [-9.92098906e-03 -3.04561841e-03 9.99946148e-01 5.20352746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451652532 meters 0.1548653757497833 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.52 [[ 9.99947799e-01 -1.11303377e-03 1.01567677e-02 -4.58047275e+00] [ 1.08647421e-03 9.99995977e-01 2.62010493e-03 -5.79513619e+00] [-1.01596432e-02 -2.60893310e-03 9.99944986e-01 5.19941179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481652532 meters 0.15664074084673377 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99948043e-01 -1.34496666e-03 1.01045476e-02 -4.58001010e+00] [ 1.32121992e-03 9.99996351e-01 2.35641191e-03 -5.79473732e+00] [-1.01076800e-02 -2.34293915e-03 9.99946171e-01 5.19394320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51165253199999 meters 0.15262452077359032 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99948117e-01 -1.64633975e-03 1.00524930e-02 -4.57943540e+00] [ 1.62716861e-03 9.99996843e-01 1.91498374e-03 -5.79385934e+00] [-1.00556140e-02 -1.89852728e-03 9.99947639e-01 5.18637329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54165253199999 meters 0.1582968167670373 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99943067e-01 -1.92512814e-03 1.04955677e-02 -4.57981231e+00] [ 1.91509597e-03 9.99997700e-01 9.65814743e-04 -5.79106252e+00] [-1.04974028e-02 -9.45659737e-04 9.99944454e-01 5.17361780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57165253199999 meters 0.16834815529856414 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99944943e-01 -1.67641434e-03 1.03586244e-02 -4.57990560e+00] [ 1.66042172e-03 9.99997417e-01 1.55230177e-03 -5.79266754e+00] [-1.03612000e-02 -1.53501662e-03 9.99945143e-01 5.18131645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60165253199999 meters 0.15758400993247654 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99945971e-01 -1.60827715e-03 1.02697475e-02 -4.57981691e+00] [ 1.59034111e-03 9.99997196e-01 1.75441996e-03 -5.79333834e+00] [-1.02725403e-02 -1.73799277e-03 9.99945726e-01 5.18414586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63165253199999 meters 0.15072324578471638 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99946013e-01 -1.38516947e-03 1.02981589e-02 -4.58023832e+00] [ 1.36352530e-03 9.99996848e-01 2.10847584e-03 -5.79405599e+00] [-1.03010471e-02 -2.09432021e-03 9.99944750e-01 5.19033146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66165253199999 meters 0.16736103119947934 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99938474e-01 -1.61020153e-03 1.09752454e-02 -4.58127639e+00] [ 1.60162279e-03 9.99998405e-01 7.90389217e-04 -5.78931459e+00] [-1.09765005e-02 -7.72762385e-04 9.99939458e-01 5.17771738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69165253199999 meters 0.16327866875016372 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99937031e-01 -1.74736131e-03 1.10851915e-02 -4.58150088e+00] [ 1.74251816e-03 9.99998382e-01 4.46546382e-04 -5.78794506e+00] [-1.10859538e-02 -4.27202116e-04 9.99938458e-01 5.17627395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721652532 meters 0.17116115352336464 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99933003e-01 -1.42395723e-03 1.14874560e-02 -4.58317049e+00] [ 1.41797187e-03 9.99998855e-01 5.29162401e-04 -5.78667221e+00] [-1.14881964e-02 -5.12838059e-04 9.99933877e-01 5.18752655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751652532 meters 0.16928996955097622 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99932410e-01 -1.09947142e-03 1.15744314e-02 -4.58393211e+00] [ 1.08748530e-03 9.99998866e-01 1.04181139e-03 -5.78761691e+00] [-1.15755637e-02 -1.02915395e-03 9.99932471e-01 5.19725426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781652532 meters 0.18310675534676862 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99932384e-01 -9.22775878e-04 1.15920399e-02 -4.58433625e+00] [ 9.07572052e-04 9.99998721e-01 1.31676668e-03 -5.78817581e+00] [-1.15932402e-02 -1.30615703e-03 9.99931943e-01 5.20404312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811652532 meters 0.1606968131373965 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99936556e-01 -8.56823609e-04 1.12316170e-02 -4.58370716e+00] [ 8.34979777e-04 9.99997751e-01 1.94939691e-03 -5.79055120e+00] [-1.12332620e-02 -1.93989506e-03 9.99935023e-01 5.21013209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841652532 meters 0.1642540361567119 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99943851e-01 -1.35427835e-03 1.05100478e-02 -4.58099193e+00] [ 1.33346263e-03 9.99997136e-01 1.98730859e-03 -5.79314977e+00] [-1.05127091e-02 -1.97318225e-03 9.99942793e-01 5.19291344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87165253199998 meters 0.16845405921084985 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99941717e-01 -1.66653419e-03 1.06670154e-02 -4.58067135e+00] [ 1.65242375e-03 9.99997748e-01 1.33148685e-03 -5.79176594e+00] [-1.06692104e-02 -1.31378282e-03 9.99942219e-01 5.18058867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90165253199999 meters 0.17702317083635907 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.79, Z:0.52 [[ 9.99937921e-01 -1.49207951e-03 1.10421381e-02 -4.58155477e+00] [ 1.47724820e-03 9.99997996e-01 1.35119049e-03 -5.79148156e+00] [-1.10441320e-02 -1.33479463e-03 9.99938121e-01 5.18053932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93165253199999 meters 0.17061294479077527 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.79, Z:0.52 [[ 9.99995888e-01 2.44017979e-03 1.50643994e-03 -4.56671601e+00] [-2.43548909e-03 9.99992205e-01 -3.10778972e-03 -5.79431765e+00] [-1.51401176e-03 3.10410802e-03 9.99994036e-01 5.24995139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96165253199999 meters 0.16504329507988533 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99997474e-01 -1.69749030e-03 1.47322512e-03 -4.56620555e+00] [ 1.70766917e-03 9.99974490e-01 -6.93570836e-03 -5.79670981e+00] [-1.46141424e-03 6.93820662e-03 9.99974862e-01 5.24224275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99165253199999 meters 0.16116460943174069 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99997867e-01 -1.77359410e-03 1.05832412e-03 -4.56504533e+00] [ 1.78026252e-03 9.99978358e-01 -6.33359775e-03 -5.79956177e+00] [-1.04706798e-03 6.33546833e-03 9.99979383e-01 5.23964217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02165253199999 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99998208e-01 -1.68293888e-03 8.66685008e-04 -4.56466100e+00] [ 1.68798262e-03 9.99981452e-01 -5.85210021e-03 -5.80124269e+00] [-8.56820205e-04 5.85355267e-03 9.99982501e-01 5.24078246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05165253199999 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99998208e-01 -1.68293888e-03 8.66685008e-04 -4.56466100e+00] [ 1.68798262e-03 9.99981452e-01 -5.85210021e-03 -5.80124269e+00] [-8.56820205e-04 5.85355267e-03 9.99982501e-01 5.24078246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08165253199999 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99998208e-01 -1.68293888e-03 8.66685008e-04 -4.56466100e+00] [ 1.68798262e-03 9.99981452e-01 -5.85210021e-03 -5.80124269e+00] [-8.56820205e-04 5.85355267e-03 9.99982501e-01 5.24078246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111652532 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99998208e-01 -1.68293888e-03 8.66685008e-04 -4.56466100e+00] [ 1.68798262e-03 9.99981452e-01 -5.85210021e-03 -5.80124269e+00] [-8.56820205e-04 5.85355267e-03 9.99982501e-01 5.24078246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141652532 meters 0.16987343677861538 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99998208e-01 -1.68293888e-03 8.66685008e-04 -4.56466100e+00] [ 1.68798262e-03 9.99981452e-01 -5.85210021e-03 -5.80124269e+00] [-8.56820205e-04 5.85355267e-03 9.99982501e-01 5.24078246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171652532 meters 0.16309768532956342 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99996959e-01 2.44115273e-03 3.50527216e-04 -4.56327341e+00] [-2.44070309e-03 9.99996205e-01 -1.27751751e-03 -5.80299825e+00] [-3.53644501e-04 1.27665809e-03 9.99999123e-01 5.23860549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201652532 meters 0.16315550226689984 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.80, Z:0.52 [[ 9.99997527e-01 2.13869732e-03 6.10178815e-04 -4.56351787e+00] [-2.13746857e-03 9.99995701e-01 -2.00735457e-03 -5.80052991e+00] [-6.14469316e-04 2.00604537e-03 9.99997799e-01 5.23133502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231652532 meters 0.16220286492642852 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99995216e-01 2.58483013e-03 1.69923283e-03 -4.56644612e+00] [-2.58051320e-03 9.99993450e-01 -2.53782179e-03 -5.79652683e+00] [-1.70578154e-03 2.53342475e-03 9.99995336e-01 5.23857551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26165253199999 meters 0.16220286492642852 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99995216e-01 2.58483013e-03 1.69923283e-03 -4.56644612e+00] [-2.58051320e-03 9.99993450e-01 -2.53782179e-03 -5.79652683e+00] [-1.70578154e-03 2.53342475e-03 9.99995336e-01 5.23857551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29165253199999 meters 0.16350522541229 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99994328e-01 2.88323428e-03 1.74115608e-03 -4.56708090e+00] [-2.87972402e-03 9.99993823e-01 -2.01520229e-03 -5.79765588e+00] [-1.74695563e-03 2.01017681e-03 9.99996454e-01 5.24815550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32165253199999 meters 0.168585567619006 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99993191e-01 3.23030598e-03 1.78434112e-03 -4.56781224e+00] [-3.22771379e-03 9.99993734e-01 -1.45371900e-03 -5.79874967e+00] [-1.78902589e-03 1.44794976e-03 9.99997351e-01 5.25899657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35165253199999 meters 0.17722586517389277 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99992388e-01 3.36991201e-03 1.96643557e-03 -4.56822703e+00] [-3.36720310e-03 9.99993380e-01 -1.37926065e-03 -5.79921209e+00] [-1.97107054e-03 1.37262877e-03 9.99997115e-01 5.25851892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38165253199999 meters 0.16797929501690553 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99992354e-01 3.40103496e-03 1.92991128e-03 -4.56817712e+00] [-3.39853709e-03 9.99993385e-01 -1.29609813e-03 -5.79946259e+00] [-1.93430658e-03 1.28952934e-03 9.99997298e-01 5.25928660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41165253199999 meters 0.17244669041165683 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99993140e-01 3.12707237e-03 1.98536099e-03 -4.56776098e+00] [-3.12352384e-03 9.99993523e-01 -1.78794006e-03 -5.79851161e+00] [-1.99093915e-03 1.78172647e-03 9.99996431e-01 5.24988956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44165253199999 meters 0.17411996097526067 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99993016e-01 3.11812159e-03 2.06035748e-03 -4.56793385e+00] [-3.11432033e-03 9.99993447e-01 -1.84559294e-03 -5.79819223e+00] [-2.06609877e-03 1.83916344e-03 9.99996174e-01 5.24933979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471652532 meters 0.16522602335959682 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99994512e-01 2.77171046e-03 1.81484097e-03 -4.56696383e+00] [-2.76780523e-03 9.99993857e-01 -2.15081692e-03 -5.79770949e+00] [-1.82079127e-03 2.14578199e-03 9.99996040e-01 5.24411456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501652532 meters 0.16944443945504842 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99994402e-01 2.70918995e-03 1.96361818e-03 -4.56718404e+00] [-2.70453265e-03 9.99993533e-01 -2.37058382e-03 -5.79707522e+00] [-1.97002784e-03 2.36525988e-03 9.99995262e-01 5.24146918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531652532 meters 0.16728702713671775 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.52 [[ 9.99994197e-01 2.78924384e-03 1.95605843e-03 -4.56740751e+00] [-2.78497054e-03 9.99993737e-01 -2.18397914e-03 -5.79742430e+00] [-1.96213783e-03 2.17851890e-03 9.99995702e-01 5.24592758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561652532 meters 0.1634136166402788 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99993492e-01 3.15818748e-03 1.74432794e-03 -4.56750053e+00] [-3.15626304e-03 9.99994409e-01 -1.10490882e-03 -5.80061117e+00] [-1.74780770e-03 1.09939607e-03 9.99997868e-01 5.25888376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591652532 meters 0.16481306812201632 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99993632e-01 3.31582776e-03 1.31933624e-03 -4.56679354e+00] [-3.31546574e-03 9.99994466e-01 -2.76489252e-04 -5.80356830e+00] [-1.32024573e-03 2.72113277e-04 9.99999091e-01 5.26603705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62165253199998 meters 0.17554604597614518 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.80, Z:0.53 [[ 9.99994040e-01 3.25078517e-03 1.16325480e-03 -4.56607909e+00] [-3.25058210e-03 9.99994701e-01 -1.76419895e-04 -5.80465996e+00] [-1.16382214e-03 1.72637589e-04 9.99999308e-01 5.26119999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65165253199999 meters 0.1581502955294466 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.53 [[ 9.99994547e-01 3.14991444e-03 9.92426687e-04 -4.56531566e+00] [-3.14980895e-03 9.99995034e-01 -1.07840637e-04 -5.80568742e+00] [-9.92761447e-04 1.04714094e-04 9.99999502e-01 5.25628721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68165253199999 meters 0.15370285659132524 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99995999e-01 2.80227099e-03 3.86116611e-04 -4.56330565e+00] [-2.80232619e-03 9.99996063e-01 1.42499745e-04 -5.80828046e+00] [-3.85715768e-04 -1.43581200e-04 9.99999915e-01 5.24837355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71165253199999 meters 0.15499893548279356 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996395e-01 2.67751452e-03 1.99921288e-04 -4.56256968e+00] [-2.67755842e-03 9.99996391e-01 2.19645707e-04 -5.80917365e+00] [-1.99332462e-04 -2.20180216e-04 9.99999956e-01 5.24451907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74165253199999 meters 0.15356993333491215 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996552e-01 2.62377566e-03 1.10870506e-04 -4.56217173e+00] [-2.62380818e-03 9.99996515e-01 2.94165900e-04 -5.80988364e+00] [-1.10098295e-04 -2.94455789e-04 9.99999951e-01 5.24220729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77165253199999 meters 0.1570732287895743 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996557e-01 2.62077736e-03 1.34090980e-04 -4.56208876e+00] [-2.62082723e-03 9.99996496e-01 3.73172098e-04 -5.81044150e+00] [-1.33112509e-04 -3.73522242e-04 9.99999921e-01 5.24040490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80165253199999 meters 0.15402119858053637 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.81, Z:0.52 [[ 9.99996412e-01 2.66795570e-03 -2.39899400e-04 -4.56120898e+00] [-2.66771537e-03 9.99995945e-01 9.96596177e-04 -5.81325148e+00] [ 2.42557301e-04 -9.95952619e-04 9.99999475e-01 5.24236260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83165253199999 meters 0.14515295369364306 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99996596e-01 2.50563641e-03 -7.27295715e-04 -4.55960291e+00] [-2.50464880e-03 9.99995944e-01 1.35566610e-03 -5.81591826e+00] [ 7.30689572e-04 -1.35383987e-03 9.99998817e-01 5.23736879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861652532 meters 0.1445549318585445 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99996228e-01 2.58759727e-03 -9.20637899e-04 -4.55914419e+00] [-2.58595982e-03 9.99995080e-01 1.77537400e-03 -5.81774643e+00] [ 9.25227323e-04 -1.77298657e-03 9.99998000e-01 5.23871012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891652532 meters 0.14782116415347707 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995872e-01 2.50011912e-03 -1.41617554e-03 -4.55755671e+00] [-2.49684662e-03 9.99994220e-01 2.30786862e-03 -5.82116024e+00] [ 1.42193730e-03 -2.30432312e-03 9.99996334e-01 5.23439020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921652532 meters 0.1481070287285252 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995658e-01 2.25495340e-03 -1.89705670e-03 -4.55592054e+00] [-2.25032879e-03 9.99994500e-01 2.43639309e-03 -5.82294880e+00] [ 1.90254022e-03 -2.43211351e-03 9.99995233e-01 5.22785509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951652532 meters 0.15206305512803345 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99995520e-01 2.17648187e-03 -2.05514128e-03 -4.55528942e+00] [-2.17140566e-03 9.99994594e-01 2.46901810e-03 -5.82359270e+00] [ 2.06050394e-03 -2.46454450e-03 9.99994840e-01 5.22428319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981652532 meters 0.14644805742309217 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.82, Z:0.52 [[ 9.99995976e-01 1.98711765e-03 -2.02492359e-03 -4.55490410e+00] [-1.98279711e-03 9.99995758e-01 2.13345811e-03 -5.82309422e+00] [ 2.02915443e-03 -2.12943451e-03 9.99995674e-01 5.21650556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01165253199999 meters 0.14675395540261038 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.82, Z:0.52 [[ 9.99995737e-01 1.93410699e-03 -2.18756792e-03 -4.55439988e+00] [-1.92904076e-03 9.99995458e-01 2.31566394e-03 -5.82418290e+00] [ 2.19203672e-03 -2.31143416e-03 9.99994926e-01 5.21605954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04165253199999 meters 0.1412032281808908 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99993986e-01 -2.35523712e-03 -2.54564047e-03 -4.55327225e+00] [ 2.35169638e-03 9.99996265e-01 -1.39300110e-03 -5.82736871e+00] [ 2.54891181e-03 1.38700615e-03 9.99995790e-01 5.21378904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07165253199999 meters 0.1468450843736372 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99994580e-01 -1.91190505e-03 -2.68023006e-03 -4.55346894e+00] [ 1.91090162e-03 9.99998103e-01 -3.76893881e-04 -5.83047264e+00] [ 2.68094556e-03 3.71770182e-04 9.99996337e-01 5.22343245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10165253199999 meters 0.14335713561400318 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99993502e-01 -2.01087288e-03 -2.99205965e-03 -4.55247121e+00] [ 2.01033264e-03 9.99997962e-01 -1.83556472e-04 -5.83184836e+00] [ 2.99242266e-03 1.77540244e-04 9.99995507e-01 5.22055602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13165253199999 meters 0.15673751024145566 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99993755e-01 -1.90196623e-03 -2.97870476e-03 -4.55252455e+00] [ 1.90200361e-03 9.99998191e-01 9.71426807e-06 -5.83248801e+00] [ 2.97868089e-03 -1.53797146e-05 9.99995564e-01 5.22062074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16165253199999 meters 0.1564174951420892 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99993794e-01 -2.05066631e-03 -2.86480095e-03 -4.55232251e+00] [ 2.04968139e-03 9.99997839e-01 -3.46695400e-04 -5.83190105e+00] [ 2.86550571e-03 3.40821319e-04 9.99995836e-01 5.21196449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19165253199999 meters 0.15548205932836812 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99994403e-01 -1.84313752e-03 -2.79231838e-03 -4.55272774e+00] [ 1.84304629e-03 9.99998301e-01 -3.52459702e-05 -5.83264562e+00] [ 2.79237860e-03 3.00994009e-05 9.99996101e-01 5.21549313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221652532 meters 0.15062529700264438 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99993362e-01 -1.41995490e-03 -3.35567942e-03 -4.55226417e+00] [ 1.42452442e-03 9.99998061e-01 1.35972899e-03 -5.83729078e+00] [ 3.35374216e-03 -1.36450021e-03 9.99993445e-01 5.23301870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251652532 meters 0.14959019571482912 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99993403e-01 -1.26669009e-03 -3.40445267e-03 -4.55243077e+00] [ 1.27242655e-03 9.99997774e-01 1.68335249e-03 -5.83817608e+00] [ 3.40231280e-03 -1.68767330e-03 9.99992788e-01 5.23839817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281652532 meters 0.14842368648353543 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99994157e-01 -1.14350988e-03 -3.22141276e-03 -4.55318753e+00] [ 1.14907265e-03 9.99997851e-01 1.72549093e-03 -5.83773862e+00] [ 3.21943272e-03 -1.72918248e-03 9.99993323e-01 5.24293951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311652532 meters 0.148699222034079 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99995074e-01 -1.07372490e-03 -2.94946920e-03 -4.55395949e+00] [ 1.07831208e-03 9.99998211e-01 1.55410778e-03 -5.83693721e+00] [ 2.94779523e-03 -1.55728057e-03 9.99994443e-01 5.24408001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341652532 meters 0.14545206465041088 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99993996e-01 -1.10564734e-03 -3.28412557e-03 -4.55300879e+00] [ 1.11171495e-03 9.99997678e-01 1.84630864e-03 -5.83861959e+00] [ 3.28207658e-03 -1.84994857e-03 9.99992903e-01 5.24248426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37165253199998 meters 0.1439071781624632 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.84, Z:0.52 [[ 9.99993707e-01 -1.27182879e-03 -3.31187138e-03 -4.55261740e+00] [ 1.27694402e-03 9.99997995e-01 1.54285631e-03 -5.83805634e+00] [ 3.30990249e-03 -1.54707568e-03 9.99993326e-01 5.23682797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40165253199999 meters 0.14790242272069687 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99995430e-01 -1.32616755e-03 -2.71679773e-03 -4.55377011e+00] [ 1.32775752e-03 9.99998948e-01 5.83516189e-04 -5.83467672e+00] [ 2.71602103e-03 -5.87120771e-04 9.99996139e-01 5.22852793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43165253199999 meters 0.14764270393034626 Centerline is valid? [False, False] Translation: X:-4.55, Y:-5.83, Z:0.52 [[ 9.99996231e-01 -1.33761490e-03 -2.39755606e-03 -4.55457847e+00] [ 1.33806629e-03 9.99999087e-01 1.86679042e-04 -5.83305811e+00] [ 2.39730416e-03 -1.89886428e-04 9.99997108e-01 5.22764553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46165253199999 meters 0.1466437311486768 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99996629e-01 -1.14835030e-03 -2.32893566e-03 -4.55517919e+00] [ 1.14927462e-03 9.99999261e-01 3.95586091e-04 -5.83312564e+00] [ 2.32847966e-03 -3.98261344e-04 9.99997210e-01 5.23432685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49165253199999 meters 0.14655965864946954 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99996903e-01 -1.28097984e-03 -2.13390112e-03 -4.55555037e+00] [ 1.28080284e-03 9.99999176e-01 -8.43123474e-05 -5.83146318e+00] [ 2.13400737e-03 8.15789796e-05 9.99997720e-01 5.23142614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52165253199999 meters 0.14439871974032206 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99996910e-01 -1.21461639e-03 -2.16903681e-03 -4.55564673e+00] [ 1.21474060e-03 9.99999261e-01 5.59504664e-05 -5.83183650e+00] [ 2.16896724e-03 -5.85851106e-05 9.99997646e-01 5.23486303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55165253199999 meters 0.14325017226559444 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99997936e-01 -7.54461222e-04 -1.88642104e-03 -4.55732625e+00] [ 7.55296025e-04 9.99999617e-01 4.41859322e-04 -5.83147573e+00] [ 1.88608695e-03 -4.43283216e-04 9.99998123e-01 5.24999779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58165253199999 meters 0.14914411622593887 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99998396e-01 -9.28472245e-04 -1.53169106e-03 -4.55783012e+00] [ 9.28146786e-04 9.99999547e-01 -2.13179983e-04 -5.82922700e+00] [ 1.53188829e-03 2.11758007e-04 9.99998804e-01 5.24218501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611652532 meters 0.14803439719944572 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99998181e-01 -1.19261444e-03 -1.48884245e-03 -4.55739951e+00] [ 1.19162313e-03 9.99999068e-01 -6.66533610e-04 -5.82825448e+00] [ 1.48963598e-03 6.64758258e-04 9.99998670e-01 5.23259115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641652532 meters 0.14255045764211205 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99997648e-01 -1.39371053e-03 -1.66194454e-03 -4.55653573e+00] [ 1.39228914e-03 9.99998664e-01 -8.56106486e-04 -5.82825694e+00] [ 1.66313549e-03 8.53790565e-04 9.99998253e-01 5.22528758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671652532 meters 0.1432384284604305 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99998193e-01 -1.34596858e-03 -1.34250757e-03 -4.55741104e+00] [ 1.34443344e-03 9.99998442e-01 -1.14373530e-03 -5.82690351e+00] [ 1.34404491e-03 1.14192832e-03 9.99998445e-01 5.22518300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701652532 meters 0.1418203559526992 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99998273e-01 -1.34970004e-03 -1.27727976e-03 -4.55765761e+00] [ 1.34814282e-03 9.99998348e-01 -1.21924905e-03 -5.82648309e+00] [ 1.27892327e-03 1.21752499e-03 9.99998441e-01 5.22625119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731652532 meters 0.14605312847049756 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99998599e-01 -1.29066637e-03 -1.06586787e-03 -4.55839201e+00] [ 1.28923900e-03 9.99998273e-01 -1.33876686e-03 -5.82548210e+00] [ 1.06759393e-03 1.33739082e-03 9.99998536e-01 5.22873640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76165253199999 meters 0.14735468565732024 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99999049e-01 -1.13540254e-03 -7.82926122e-04 -4.55944915e+00] [ 1.13432685e-03 9.99998414e-01 -1.37301014e-03 -5.82456981e+00] [ 7.84483800e-04 1.37212074e-03 9.99998751e-01 5.23358999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79165253199999 meters 0.14198477287755673 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99999286e-01 -9.60053156e-04 -7.11994382e-04 -4.55998388e+00] [ 9.59252261e-04 9.99998908e-01 -1.12435026e-03 -5.82487693e+00] [ 7.13073040e-04 1.12366648e-03 9.99999114e-01 5.23941953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82165253199999 meters 0.1402170196934757 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99999384e-01 -8.59635499e-04 -7.02130010e-04 -4.56014436e+00] [ 8.58981009e-04 9.99999197e-01 -9.31920351e-04 -5.82519338e+00] [ 7.02930558e-04 9.31316660e-04 9.99999319e-01 5.24130761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85165253199999 meters 0.1423396586228822 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99999651e-01 -6.96975573e-04 -4.61139720e-04 -4.56094865e+00] [ 6.96590103e-04 9.99999408e-01 -8.35540022e-04 -5.82487836e+00] [ 4.61721798e-04 8.35218504e-04 9.99999545e-01 5.24365056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88165253199999 meters 0.14296437128653597 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99999353e-01 -9.55539041e-04 -6.16897132e-04 -4.55989394e+00] [ 9.54924679e-04 9.99999049e-01 -9.95418984e-04 -5.82542639e+00] [ 6.17847706e-04 9.94829250e-04 9.99999314e-01 5.23292604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91165253199999 meters 0.13783027207525173 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99998941e-01 -1.33156134e-03 -5.86601309e-04 -4.55916972e+00] [ 1.33064530e-03 9.99997899e-01 -1.55922422e-03 -5.82403150e+00] [ 5.88676279e-04 1.55844201e-03 9.99998612e-01 5.21895301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94165253199999 meters 0.1388329811917252 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99999247e-01 -1.21472430e-03 -1.77071273e-04 -4.56042841e+00] [ 1.21441939e-03 9.99997797e-01 -1.71200476e-03 -5.82263949e+00] [ 1.79150497e-04 1.71178843e-03 9.99998519e-01 5.22121033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971652532 meters 0.14653411902324281 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.52 [[ 9.99999763e-01 -3.91548935e-04 5.66880470e-04 -4.56369135e+00] [ 3.92094806e-04 9.99999459e-01 -9.63148286e-04 -5.82247550e+00] [-5.66503043e-04 9.63370328e-04 9.99999375e-01 5.24383404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001652532 meters 0.13510295950144996 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.53 [[ 9.99999822e-01 3.64503947e-05 5.95860175e-04 -4.56432890e+00] [-3.63849943e-05 9.99999993e-01 -1.09768375e-04 -5.82468096e+00] [-5.95864172e-04 1.09746675e-04 9.99999816e-01 5.25416327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031652532 meters 0.13510295950144996 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.82, Z:0.53 [[ 9.99999822e-01 3.64503947e-05 5.95860175e-04 -4.56432890e+00] [-3.63849943e-05 9.99999993e-01 -1.09768375e-04 -5.82468096e+00] [-5.95864172e-04 1.09746675e-04 9.99999816e-01 5.25416327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061652532 meters 0.1350337829178867 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.53 [[ 9.99999885e-01 -1.74337823e-05 4.79495254e-04 -4.56383762e+00] [ 1.74381282e-05 1.00000000e+00 -9.05918597e-06 -5.82548339e+00] [-4.79495096e-04 9.06754643e-06 9.99999885e-01 5.25124228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091652532 meters 0.14099996375785795 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.53 [[ 9.99999794e-01 1.57898392e-04 6.21845227e-04 -4.56423581e+00] [-1.58054215e-04 9.99999956e-01 2.50539778e-04 -5.82629613e+00] [-6.21805640e-04 -2.50638012e-04 9.99999775e-01 5.25164323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12165253199998 meters 0.14310845975473266 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99999578e-01 1.48336753e-04 9.06933236e-04 -4.56450912e+00] [-1.48424091e-04 9.99999984e-01 9.62335837e-05 -5.82610871e+00] [-9.06918946e-04 -9.63681538e-05 9.99999584e-01 5.24300531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15165253199999 meters 0.13658261385839152 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99999587e-01 2.33444760e-04 8.78619844e-04 -4.56435383e+00] [-2.33804485e-04 9.99999889e-01 4.09339769e-04 -5.82731747e+00] [-8.78524188e-04 -4.09545025e-04 9.99999530e-01 5.24163109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18165253199999 meters 0.12862002659434388 Centerline is valid? [False, False] Translation: X:-4.56, Y:-5.83, Z:0.52 [[ 9.99999395e-01 3.04823702e-04 1.05683327e-03 -4.56479143e+00] [-3.05264771e-04 9.99999866e-01 4.17214010e-04 -5.82714301e+00] [-1.05670595e-03 -4.17536371e-04 9.99999355e-01 5.24046083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21165253199999 meters 0.14008534204741044 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99999126e-01 4.48553706e-04 1.24354143e-03 -4.56549510e+00] [-4.49248683e-04 9.99999743e-01 5.58646163e-04 -5.82709425e+00] [-1.24329053e-03 -5.59204335e-04 9.99999071e-01 5.24359085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24165253199999 meters 0.1475883745241008 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.53 [[ 9.99998609e-01 7.45697550e-04 1.49207469e-03 -4.56666580e+00] [-7.47069598e-04 9.99999298e-01 9.19211370e-04 -5.82730308e+00] [-1.49138819e-03 -9.20324775e-04 9.99998464e-01 5.25263943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27165253199999 meters 0.13839187953961743 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99998453e-01 6.78556761e-04 1.62263291e-03 -4.56679608e+00] [-6.79731195e-04 9.99999507e-01 7.23341561e-04 -5.82687407e+00] [-1.62214128e-03 -7.24443397e-04 9.99998422e-01 5.24897485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30165253199999 meters 0.14477046429742993 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99998552e-01 5.99542103e-04 1.59236610e-03 -4.56654774e+00] [-6.00530246e-04 9.99999627e-01 6.20144531e-04 -5.82691531e+00] [-1.59199371e-03 -6.21099897e-04 9.99998540e-01 5.24612568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33165253199999 meters 0.15115962948370476 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.52 [[ 9.99997687e-01 6.96316245e-04 2.03506788e-03 -4.56768221e+00] [-6.96976278e-04 9.99999705e-01 3.23638481e-04 -5.82554092e+00] [-2.03484193e-03 -3.25056126e-04 9.99997877e-01 5.24545524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361652532 meters 0.13715721337538067 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.83, Z:0.53 [[ 9.99997131e-01 8.70658257e-04 2.23169468e-03 -4.56854114e+00] [-8.71752077e-04 9.99999500e-01 4.89203696e-04 -5.82542149e+00] [-2.23126763e-03 -4.91147777e-04 9.99997390e-01 5.25113619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391652532 meters 0.14385251365922447 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99996744e-01 8.97365003e-04 2.38883405e-03 -4.56911101e+00] [-8.98345291e-04 9.99999513e-01 4.09321268e-04 -5.82470073e+00] [-2.38846558e-03 -4.11465933e-04 9.99997063e-01 5.25378054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421652532 meters 0.13897001230623107 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99996207e-01 7.45466164e-04 2.65165229e-03 -4.56937747e+00] [-7.45172671e-04 9.99999716e-01 -1.11669143e-04 -5.82328434e+00] [-2.65173479e-03 1.09692780e-04 9.99996478e-01 5.24614500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451652532 meters 0.1498488246067776 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99994501e-01 1.09917977e-03 3.12884760e-03 -4.57104896e+00] [-1.09934104e-03 9.99999394e-01 4.98239125e-05 -5.82275308e+00] [-3.12879094e-03 -5.32633091e-05 9.99995104e-01 5.25299952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481652532 meters 0.1481259268688804 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99994443e-01 1.18194463e-03 3.11724095e-03 -4.57114862e+00] [-1.18287307e-03 9.99999257e-01 2.96011896e-04 -5.82337510e+00] [-3.11688877e-03 -2.99697551e-04 9.99995098e-01 5.25572956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51165253199999 meters 0.1472942714608995 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99994216e-01 1.15406003e-03 3.19935911e-03 -4.57121210e+00] [-1.15473813e-03 9.99999311e-01 2.10109819e-04 -5.82327805e+00] [-3.19911442e-03 -2.13803026e-04 9.99994860e-01 5.25327158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54165253199999 meters 0.13767241791842955 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99993944e-01 1.13828587e-03 3.28885304e-03 -4.57145928e+00] [-1.13869235e-03 9.99999344e-01 1.21724803e-04 -5.82289751e+00] [-3.28871232e-03 -1.25469057e-04 9.99994584e-01 5.25370802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57165253199999 meters 0.14604787481920126 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99993135e-01 1.38941426e-03 3.43490443e-03 -4.57236262e+00] [-1.39087286e-03 9.99998944e-01 4.22288123e-04 -5.82299101e+00] [-3.43431407e-03 -4.27062739e-04 9.99994012e-01 5.26282389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60165253199999 meters 0.14768045448467465 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992599e-01 1.53037014e-03 3.52995384e-03 -4.57280320e+00] [-1.53254298e-03 9.99998638e-01 6.12921759e-04 -5.82334235e+00] [-3.52901103e-03 -6.18327028e-04 9.99993582e-01 5.26632970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63165253199999 meters 0.14702492351057753 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992858e-01 1.53726952e-03 3.45267704e-03 -4.57260468e+00] [-1.53978298e-03 9.99998551e-01 7.25433843e-04 -5.82386719e+00] [-3.45155685e-03 -7.30745035e-04 9.99993776e-01 5.26682376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66165253199999 meters 0.1464937515311554 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992417e-01 1.46613933e-03 3.60775181e-03 -4.57281742e+00] [-1.46778257e-03 9.99998820e-01 4.52868664e-04 -5.82309598e+00] [-3.60708359e-03 -4.58160626e-04 9.99993389e-01 5.26358595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69165253199999 meters 0.15509886477815646 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99991920e-01 1.40767670e-03 3.76547719e-03 -4.57308327e+00] [-1.40864397e-03 9.99998976e-01 2.54238544e-04 -5.82249931e+00] [-3.76511545e-03 -2.59540707e-04 9.99992878e-01 5.26112991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721652532 meters 0.14311768536062783 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99993285e-01 1.28174496e-03 3.43336341e-03 -4.57212158e+00] [-1.28320008e-03 9.99999088e-01 4.21649946e-04 -5.82367786e+00] [-3.43281983e-03 -4.26052806e-04 9.99994017e-01 5.25982760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751652532 meters 0.15336740470296667 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992340e-01 1.40041115e-03 3.65508791e-03 -4.57280806e+00] [-1.40195391e-03 9.99998929e-01 4.19557684e-04 -5.82331401e+00] [-3.65449644e-03 -4.24678735e-04 9.99993232e-01 5.26160380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781652532 meters 0.14650248305495295 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992065e-01 1.33474121e-03 3.75346566e-03 -4.57294290e+00] [-1.33569286e-03 9.99999076e-01 2.51043597e-04 -5.82284357e+00] [-3.75312712e-03 -2.56055083e-04 9.99992924e-01 5.25968289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811652532 meters 0.15097431115023147 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992128e-01 1.32880452e-03 3.73884063e-03 -4.57300286e+00] [-1.32985734e-03 9.99999077e-01 2.79116034e-04 -5.82267734e+00] [-3.73846629e-03 -2.84085961e-04 9.99992972e-01 5.26127137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841652532 meters 0.15009793812267785 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992318e-01 1.11036223e-03 3.75903261e-03 -4.57270120e+00] [-1.10997675e-03 9.99999379e-01 -1.04631224e-04 -5.82180443e+00] [-3.75914645e-03 1.00457981e-04 9.99992929e-01 5.25536624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87165253199998 meters 0.15600609685701394 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99992264e-01 9.43497635e-04 3.81863939e-03 -4.57258029e+00] [-9.42041208e-04 9.99999483e-01 -3.83180114e-04 -5.82105850e+00] [-3.81899895e-03 3.79579834e-04 9.99992636e-01 5.25082797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90165253199999 meters 0.15873217155419314 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99991223e-01 8.31214957e-04 4.10638235e-03 -4.57311053e+00] [-8.27798092e-04 9.99999310e-01 -8.33715800e-04 -5.81952810e+00] [-4.10707251e-03 8.30309227e-04 9.99991221e-01 5.24731552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93165253199999 meters 0.1559356858800469 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99991845e-01 7.45982322e-04 3.96905436e-03 -4.57267622e+00] [-7.42670071e-04 9.99999375e-01 -8.35927228e-04 -5.81982727e+00] [-3.96967546e-03 8.32972713e-04 9.99991774e-01 5.24628314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96165253199999 meters 0.15082466687745602 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99991121e-01 8.60542115e-04 4.12510497e-03 -4.57327676e+00] [-8.57215167e-04 9.99999306e-01 -8.08212478e-04 -5.81951004e+00] [-4.12579760e-03 8.04669200e-04 9.99991165e-01 5.24946865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99165253199999 meters 0.15314273866961592 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99991021e-01 1.00537932e-03 4.11680799e-03 -4.57341351e+00] [-1.00327353e-03 9.99999365e-01 -5.13543391e-04 -5.82044486e+00] [-4.11732168e-03 5.09408495e-04 9.99991394e-01 5.25285288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02165253199999 meters 0.14357854799847167 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99991259e-01 1.02356673e-03 4.05399908e-03 -4.57324194e+00] [-1.02190724e-03 9.99999393e-01 -4.11396211e-04 -5.82084442e+00] [-4.05441771e-03 4.07249804e-04 9.99991698e-01 5.25234381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05165253199999 meters 0.1472676479127659 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99992158e-01 7.58992369e-04 3.88684322e-03 -4.57252587e+00] [-7.56319359e-04 9.99999477e-01 -6.89130953e-04 -5.82031890e+00] [-3.88736423e-03 6.86185854e-04 9.99992209e-01 5.24709561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08165253199999 meters 0.15061435412449398 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99991720e-01 6.92587236e-04 4.01012320e-03 -4.57292035e+00] [-6.88795636e-04 9.99999315e-01 -9.46811000e-04 -5.81898030e+00] [-4.01077620e-03 9.44041005e-04 9.99991511e-01 5.24755776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111652532 meters 0.15052122072371665 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.52 [[ 9.99990295e-01 4.15770314e-04 4.38600556e-03 -4.57335752e+00] [-4.07552868e-04 9.99998160e-01 -1.87428776e-03 -5.81602006e+00] [-4.38677676e-03 1.87248204e-03 9.99988625e-01 5.23778993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141652532 meters 0.1540988791389388 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.81, Z:0.52 [[ 9.99988497e-01 5.34031102e-04 4.76671968e-03 -4.57440899e+00] [-5.24039843e-04 9.99997664e-01 -2.09704783e-03 -5.81469476e+00] [-4.76782843e-03 2.09452576e-03 9.99986440e-01 5.23896100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171652532 meters 0.1573951949074355 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.52 [[ 9.99986384e-01 5.64164488e-04 5.18783814e-03 -4.57542476e+00] [-5.51548978e-04 9.99996888e-01 -2.43285619e-03 -5.81318406e+00] [-5.18919453e-03 2.42996171e-03 9.99983584e-01 5.23876508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201652532 meters 0.15660512290060694 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.52 [[ 9.99987141e-01 8.39887117e-04 5.00116895e-03 -4.57547422e+00] [-8.30792291e-04 9.99997998e-01 -1.82033995e-03 -5.81507497e+00] [-5.00268782e-03 1.81616161e-03 9.99985837e-01 5.24838707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231652532 meters 0.15511013578566285 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99986329e-01 9.91609429e-04 5.13411462e-03 -4.57610409e+00] [-9.83108084e-04 9.99998142e-01 -1.65811313e-03 -5.81507803e+00] [-5.13574928e-03 1.65304307e-03 9.99985446e-01 5.25329424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26165253199999 meters 0.15292406820580892 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99984884e-01 1.20550488e-03 5.36460137e-03 -4.57710523e+00] [-1.19745878e-03 9.99998154e-01 -1.50281047e-03 -5.81474041e+00] [-5.36640311e-03 1.49636386e-03 9.99984481e-01 5.25984226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29165253199999 meters 0.1538980862367289 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99986012e-01 1.12327662e-03 5.16855378e-03 -4.57642237e+00] [-1.11656499e-03 9.99998530e-01 -1.30125253e-03 -5.81605662e+00] [-5.17000785e-03 1.29546330e-03 9.99985796e-01 5.25753630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32165253199999 meters 0.164612032815675 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99988622e-01 1.12951286e-03 4.63466194e-03 -4.57537639e+00] [-1.12618564e-03 9.99999106e-01 -7.20446007e-04 -5.81806886e+00] [-4.63547155e-03 7.15218320e-04 9.99989000e-01 5.26247720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35165253199999 meters 0.1533857422822797 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99988237e-01 8.52781461e-04 4.77473607e-03 -4.57536535e+00] [-8.46470739e-04 9.99998766e-01 -1.32355507e-03 -5.81626812e+00] [-4.77585888e-03 1.31949782e-03 9.99987725e-01 5.25560750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38165253199999 meters 0.15240164055669173 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99988815e-01 8.16039209e-04 4.65878367e-03 -4.57519336e+00] [-8.10221576e-04 9.99998890e-01 -1.25049585e-03 -5.81641400e+00] [-4.65979895e-03 1.24670721e-03 9.99988366e-01 5.25756511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41165253199999 meters 0.15337020089290274 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99989580e-01 8.42604074e-04 4.48671264e-03 -4.57492275e+00] [-8.37929087e-04 9.99999104e-01 -1.04374052e-03 -5.81705634e+00] [-4.48758808e-03 1.03997010e-03 9.99989390e-01 5.26063812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44165253199999 meters 0.15058729765355933 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99988547e-01 9.60986425e-04 4.68845789e-03 -4.57552921e+00] [-9.56113481e-04 9.99999001e-01 -1.04147964e-03 -5.81674971e+00] [-4.68945405e-03 1.03698501e-03 9.99988467e-01 5.26233462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471652532 meters 0.1476658001558237 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.82, Z:0.53 [[ 9.99989275e-01 7.28978377e-04 4.57365229e-03 -4.57498589e+00] [-7.22828689e-04 9.99998833e-01 -1.34609925e-03 -5.81616567e+00] [-4.57462823e-03 1.34277884e-03 9.99988635e-01 5.25819936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501652532 meters 0.14686705910716455 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99989276e-01 6.65971262e-04 4.58304493e-03 -4.57504201e+00] [-6.59139638e-04 9.99998670e-01 -1.49197894e-03 -5.81561723e+00] [-4.58403245e-03 1.48894207e-03 9.99988385e-01 5.25874769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531652532 meters 0.14389726532524463 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99988300e-01 1.05094901e-03 4.72174267e-03 -4.57617596e+00] [-1.04610418e-03 9.99998924e-01 -1.02842040e-03 -5.81602196e+00] [-4.72281841e-03 1.02346894e-03 9.99988324e-01 5.27198255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561652532 meters 0.15415353064984902 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99987814e-01 9.99085156e-04 4.83461754e-03 -4.57648816e+00] [-9.93109910e-04 9.99998740e-01 -1.23817234e-03 -5.81506597e+00] [-4.83584849e-03 1.23335594e-03 9.99987547e-01 5.27208613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591652532 meters 0.1436764158475642 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99987194e-01 9.49376859e-04 4.97088125e-03 -4.57683788e+00] [-9.42235359e-04 9.99998521e-01 -1.43881168e-03 -5.81418795e+00] [-4.97223987e-03 1.43410952e-03 9.99986610e-01 5.27176475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62165253199998 meters 0.15413190067221347 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99986940e-01 8.45263703e-04 5.04044369e-03 -4.57707933e+00] [-8.36564640e-04 9.99998158e-01 -1.72771126e-03 -5.81288085e+00] [-5.04189478e-03 1.72347203e-03 9.99985804e-01 5.27212867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65165253199999 meters 0.1464688465707115 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99986538e-01 7.74529243e-04 5.13072303e-03 -4.57723321e+00] [-7.64545703e-04 9.99997811e-01 -1.94751039e-03 -5.81207304e+00] [-5.13222021e-03 1.94356150e-03 9.99984941e-01 5.27063475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68165253199999 meters 0.15637757352768691 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99986186e-01 9.09277152e-04 5.17696476e-03 -4.57761319e+00] [-9.00134334e-04 9.99998032e-01 -1.76811376e-03 -5.81230296e+00] [-5.17856228e-03 1.76342937e-03 9.99985036e-01 5.27508024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71165253199999 meters 0.1642833374292716 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99986217e-01 8.76488784e-04 5.17668479e-03 -4.57762135e+00] [-8.66972286e-04 9.99997931e-01 -1.84029633e-03 -5.81206091e+00] [-5.17828708e-03 1.83578292e-03 9.99984908e-01 5.27514246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74165253199999 meters 0.14758116280560601 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99985541e-01 9.83552348e-04 5.28682282e-03 -4.57833481e+00] [-9.74153857e-04 9.99997941e-01 -1.78000127e-03 -5.81141462e+00] [-5.28856266e-03 1.77482536e-03 9.99984440e-01 5.28180691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77165253199999 meters 0.15836741662555864 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99984913e-01 1.00631819e-03 5.40006109e-03 -4.57881132e+00] [-9.96429717e-04 9.99997823e-01 -1.83355640e-03 -5.81078451e+00] [-5.40189448e-03 1.82814795e-03 9.99983739e-01 5.28452356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80165253199999 meters 0.14800753619574403 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99985069e-01 9.44560869e-04 5.38229635e-03 -4.57886937e+00] [-9.34166955e-04 9.99997695e-01 -1.93331697e-03 -5.81018723e+00] [-5.38411008e-03 1.92826014e-03 9.99983646e-01 5.28564220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83165253199999 meters 0.1528049870545609 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99984570e-01 7.81647950e-04 5.49996339e-03 -4.57914069e+00] [-7.68717132e-04 9.99996937e-01 -2.35279486e-03 -5.80850143e+00] [-5.50178560e-03 2.34853064e-03 9.99982107e-01 5.28430185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861652532 meters 0.15370342708156223 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99981239e-01 9.81998893e-04 6.04624721e-03 -4.58074941e+00] [-9.65723525e-04 9.99995904e-01 -2.69414449e-03 -5.80626446e+00] [-6.04886810e-03 2.68825495e-03 9.99978092e-01 5.28864674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891652532 meters 0.15398455985571538 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99981539e-01 1.19657779e-03 5.95737060e-03 -4.58085522e+00] [-1.18350399e-03 9.99996885e-01 -2.19760165e-03 -5.80770617e+00] [-5.95998165e-03 2.19051050e-03 9.99979840e-01 5.29511781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921652532 meters 0.15398455985571538 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99981539e-01 1.19657779e-03 5.95737060e-03 -4.58085522e+00] [-1.18350399e-03 9.99996885e-01 -2.19760165e-03 -5.80770617e+00] [-5.95998165e-03 2.19051050e-03 9.99979840e-01 5.29511781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951652532 meters 0.15970803975102532 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99981286e-01 1.23009419e-03 5.99289411e-03 -4.58109871e+00] [-1.21689091e-03 9.99996826e-01 -2.20630444e-03 -5.80742521e+00] [-5.99558905e-03 2.19897046e-03 9.99979609e-01 5.29754227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981652532 meters 0.15596663439433683 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.81, Z:0.53 [[ 9.99980496e-01 1.05316554e-03 6.15618748e-03 -4.58143449e+00] [-1.03667651e-03 9.99995869e-01 -2.68102618e-03 -5.80566385e+00] [-6.15898561e-03 2.67459191e-03 9.99977456e-01 5.29562034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01165253199999 meters 0.15756075578172057 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99980388e-01 1.03902890e-03 6.17607219e-03 -4.58185161e+00] [-1.02216976e-03 9.99995745e-01 -2.73228217e-03 -5.80473542e+00] [-6.17888483e-03 2.72591559e-03 9.99977195e-01 5.30130403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04165253199999 meters 0.16016748411165407 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99979999e-01 9.98366513e-04 6.24538240e-03 -4.58211394e+00] [-9.80398643e-04 9.99995374e-01 -2.87938500e-03 -5.80396127e+00] [-6.24822819e-03 2.87320445e-03 9.99976352e-01 5.30246111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07165253199999 meters 0.15451036801226567 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99978402e-01 1.17335672e-03 6.46670481e-03 -4.58299105e+00] [-1.15547955e-03 9.99995503e-01 -2.76753895e-03 -5.80360286e+00] [-6.46992304e-03 2.76000703e-03 9.99975261e-01 5.30743148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10165253199999 meters 0.15451510376652114 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99977945e-01 1.33388209e-03 6.50611275e-03 -4.58344406e+00] [-1.31725448e-03 9.99995857e-01 -2.55930576e-03 -5.80378502e+00] [-6.50949961e-03 2.55067911e-03 9.99975560e-01 5.31302291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13165253199999 meters 0.15740120809907077 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.80, Z:0.53 [[ 9.99976546e-01 1.40940461e-03 6.70224225e-03 -4.58429350e+00] [-1.39164536e-03 9.99995511e-01 -2.65367323e-03 -5.80269002e+00] [-6.70595226e-03 2.64428385e-03 9.99974019e-01 5.31850498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16165253199999 meters 0.1591569679833176 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99974751e-01 1.41007629e-03 6.96490495e-03 -4.58515289e+00] [-1.38964477e-03 9.99994720e-01 -2.93746492e-03 -5.80106138e+00] [-6.96901022e-03 2.92771201e-03 9.99971430e-01 5.32107439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19165253199999 meters 0.1581032220143508 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99973213e-01 1.46415738e-03 7.17148738e-03 -4.58605857e+00] [-1.44197976e-03 9.99994166e-01 -3.09666592e-03 -5.79959788e+00] [-7.17597954e-03 3.08624183e-03 9.99969490e-01 5.32665444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221652532 meters 0.15562300284885655 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99969876e-01 1.57009751e-03 7.60141074e-03 -4.58753752e+00] [-1.54363464e-03 9.99992733e-01 -3.48592717e-03 -5.79709154e+00] [-7.60682874e-03 3.47408836e-03 9.99965033e-01 5.33362900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251652532 meters 0.15421794153780716 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99969237e-01 1.56271328e-03 7.68655606e-03 -4.58783283e+00] [-1.53518465e-03 9.99992392e-01 -3.58599718e-03 -5.79665441e+00] [-7.69210146e-03 3.57408658e-03 9.99964028e-01 5.33514903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281652532 meters 0.168004338401499 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99966240e-01 1.93812859e-03 7.98519068e-03 -4.58939411e+00] [-1.91199955e-03 9.99992798e-01 -3.27852320e-03 -5.79619933e+00] [-7.99148737e-03 3.26314483e-03 9.99962743e-01 5.34816195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311652532 meters 0.16335964973842518 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99965646e-01 1.89188965e-03 8.07020241e-03 -4.58968237e+00] [-1.86413849e-03 9.99992329e-01 -3.44485599e-03 -5.79539424e+00] [-8.07665779e-03 3.42969367e-03 9.99961502e-01 5.34877202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341652532 meters 0.15240027596608643 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.53 [[ 9.99964643e-01 1.82017107e-03 8.20976093e-03 -4.59005786e+00] [-1.78967263e-03 9.99991477e-01 -3.72071752e-03 -5.79419103e+00] [-8.21646330e-03 3.70589318e-03 9.99959377e-01 5.34867385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37165253199998 meters 0.1720327936543734 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99963656e-01 1.90787524e-03 8.30943080e-03 -4.59054564e+00] [-1.87771166e-03 9.99991626e-01 -3.63633153e-03 -5.79399591e+00] [-8.31629888e-03 3.62059665e-03 9.99958864e-01 5.35227391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40165253199999 meters 0.1635477757966218 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99964811e-01 1.93686275e-03 8.16238933e-03 -4.59036979e+00] [-1.90861781e-03 9.99992169e-01 -3.46674588e-03 -5.79441821e+00] [-8.16904003e-03 3.45104501e-03 9.99960678e-01 5.35526785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43165253199999 meters 0.166976527571357 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99963545e-01 2.38381422e-03 8.19910720e-03 -4.59113565e+00] [-2.36194620e-03 9.99993631e-01 -2.67577088e-03 -5.79636585e+00] [-8.20543352e-03 2.65630748e-03 9.99962807e-01 5.36751238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46165253199999 meters 0.15417739865922442 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99966999e-01 2.46784719e-03 7.74015401e-03 -4.59029678e+00] [-2.45188927e-03 9.99994851e-01 -2.07051813e-03 -5.79852047e+00] [-7.74522387e-03 2.05147180e-03 9.99967901e-01 5.37308352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49165253199999 meters 0.14634902889454407 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99966563e-01 2.43738954e-03 7.80586851e-03 -4.59049372e+00] [-2.42035285e-03 9.99994670e-01 -2.19125214e-03 -5.79787053e+00] [-7.81116785e-03 2.17228591e-03 9.99967133e-01 5.37314307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52165253199999 meters 0.15293682424407185 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99963692e-01 2.27102987e-03 8.21317382e-03 -4.59135765e+00] [-2.24760031e-03 9.99993382e-01 -2.86078620e-03 -5.79504118e+00] [-8.21961639e-03 2.84222240e-03 9.99962179e-01 5.36956706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55165253199999 meters 0.1646569798937475 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99963554e-01 2.09745942e-03 8.27589911e-03 -4.59127451e+00] [-2.07154379e-03 9.99992928e-01 -3.13878828e-03 -5.79430296e+00] [-8.28242407e-03 3.12153000e-03 9.99960828e-01 5.36513081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58165253199999 meters 0.1725892454991516 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99967572e-01 2.36187922e-03 7.69915604e-03 -4.59049932e+00] [-2.34553485e-03 9.99994978e-01 -2.13121606e-03 -5.79758917e+00] [-7.70415105e-03 2.11308831e-03 9.99968090e-01 5.37708601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611652532 meters 0.16354152338865155 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99966539e-01 2.62827113e-03 7.74678681e-03 -4.59091292e+00] [-2.61534634e-03 9.99995172e-01 -1.67806539e-03 -5.79874790e+00] [-7.75115982e-03 1.65774871e-03 9.99968585e-01 5.38239209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641652532 meters 0.15928306382003118 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99965187e-01 2.66303716e-03 7.90774186e-03 -4.59134669e+00] [-2.64921794e-03 9.99994946e-01 -1.75751786e-03 -5.79825749e+00] [-7.91238223e-03 1.73650734e-03 9.99967189e-01 5.38276410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671652532 meters 0.1533362292286815 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99966864e-01 2.64395563e-03 7.69931452e-03 -4.59088891e+00] [-2.63245296e-03 9.99995404e-01 -1.50373841e-03 -5.79920963e+00] [-7.70325496e-03 1.48342050e-03 9.99969229e-01 5.38424804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701652532 meters 0.1589549132640324 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99966215e-01 2.58474036e-03 7.80305983e-03 -4.59116553e+00] [-2.57150968e-03 9.99995240e-01 -1.70513335e-03 -5.79833311e+00] [-7.80743001e-03 1.68501010e-03 9.99968102e-01 5.38400769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731652532 meters 0.15923244897911326 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99965468e-01 2.37644359e-03 7.96333550e-03 -4.59129687e+00] [-2.35914476e-03 9.99994839e-01 -2.18099933e-03 -5.79688502e+00] [-7.96847742e-03 2.16213735e-03 9.99965914e-01 5.37881143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76165253199999 meters 0.1577306999466346 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99963578e-01 2.28690865e-03 8.22275292e-03 -4.59194531e+00] [-2.26574878e-03 9.99994101e-01 -2.58172593e-03 -5.79505138e+00] [-8.22860858e-03 2.56300120e-03 9.99962860e-01 5.37811583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79165253199999 meters 0.14883638051558018 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99962998e-01 2.41811757e-03 8.25563375e-03 -4.59221058e+00] [-2.39877827e-03 9.99994358e-01 -2.35165679e-03 -5.79557811e+00] [-8.26127375e-03 2.33176634e-03 9.99963156e-01 5.38143497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82165253199999 meters 0.15559273532635076 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99962724e-01 2.20639684e-03 8.34763582e-03 -4.59192021e+00] [-2.18303591e-03 9.99993679e-01 -2.80658673e-03 -5.79482632e+00] [-8.35377549e-03 2.78825892e-03 9.99961219e-01 5.37245087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85165253199999 meters 0.15498662505478417 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99960126e-01 2.05900163e-03 8.68951871e-03 -4.59259892e+00] [-2.02887787e-03 9.99991907e-01 -3.47406990e-03 -5.79239303e+00] [-8.69660150e-03 3.45630140e-03 9.99956211e-01 5.36872111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88165253199999 meters 0.18412570280866836 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99954772e-01 2.24587487e-03 9.24176422e-03 -4.59441869e+00] [-2.21184001e-03 9.99990741e-01 -3.69129801e-03 -5.79015405e+00] [-9.24996884e-03 3.67068975e-03 9.99950481e-01 5.37564614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91165253199999 meters 0.16222340849360056 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.79, Z:0.54 [[ 9.99954928e-01 2.28389800e-03 9.21547258e-03 -4.59463667e+00] [-2.25052603e-03 9.99990879e-01 -3.63004426e-03 -5.78987989e+00] [-9.22367918e-03 3.60914098e-03 9.99950948e-01 5.37993232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94165253199999 meters 0.1603844352496784 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99952706e-01 2.51410997e-03 9.39494545e-03 -4.59541716e+00] [-2.48236525e-03 9.99991176e-01 -3.38904948e-03 -5.79003912e+00] [-9.40338299e-03 3.36556751e-03 9.99950123e-01 5.38520037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971652532 meters 0.16391693800636933 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99949601e-01 2.67970113e-03 9.67544913e-03 -4.59630592e+00] [-2.64700733e-03 9.99990750e-01 -3.39027401e-03 -5.78950390e+00] [-9.68444455e-03 3.36449216e-03 9.99947444e-01 5.38827218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001652532 meters 0.18274301873537033 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99943146e-01 2.90553518e-03 1.02597311e-02 -4.59806119e+00] [-2.86903474e-03 9.99989510e-01 -3.57056899e-03 -5.78745304e+00] [-1.02699979e-02 3.54093047e-03 9.99940993e-01 5.39330963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031652532 meters 0.16203765666026984 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99943206e-01 2.78151735e-03 1.02882415e-02 -4.59798153e+00] [-2.74297676e-03 9.99989176e-01 -3.75829601e-03 -5.78701179e+00] [-1.02985839e-02 3.72986216e-03 9.99940012e-01 5.39057887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061652532 meters 0.18781246598040557 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99947764e-01 2.77806073e-03 9.83624691e-03 -4.59686003e+00] [-2.74580608e-03 9.99990814e-01 -3.29115054e-03 -5.78907942e+00] [-9.84529958e-03 3.26397019e-03 9.99946207e-01 5.39123675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091652532 meters 0.1716618970622988 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99945537e-01 2.84993962e-03 1.00399960e-02 -4.59743829e+00] [-2.81650903e-03 9.99990448e-01 -3.34230900e-03 -5.78847909e+00] [-1.00494255e-02 3.31384923e-03 9.99944012e-01 5.39196808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12165253199998 meters 0.19094212576452899 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99942935e-01 2.78808903e-03 1.03128201e-02 -4.59794700e+00] [-2.75075843e-03 9.99989620e-01 -3.63223937e-03 -5.78739082e+00] [-1.03228400e-02 3.60366402e-03 9.99940225e-01 5.38858366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15165253199999 meters 0.17581473493781585 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99945436e-01 2.69976348e-03 1.00913501e-02 -4.59723940e+00] [-2.66418084e-03 9.99990193e-01 -3.53783474e-03 -5.78809048e+00] [-1.01008024e-02 3.51075653e-03 9.99942823e-01 5.38623246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18165253199999 meters 0.1672487627836191 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99946395e-01 2.75490456e-03 9.98081802e-03 -4.59688733e+00] [-2.72250943e-03 9.99990987e-01 -3.25787281e-03 -5.78933238e+00] [-9.98970319e-03 3.23052530e-03 9.99944883e-01 5.38570314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21165253199999 meters 0.16593789862913524 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99948680e-01 2.83179399e-03 9.72722974e-03 -4.59630229e+00] [-2.80436040e-03 9.99992055e-01 -2.83277156e-03 -5.79109636e+00] [-9.73517428e-03 2.80534753e-03 9.99948677e-01 5.38759877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24165253199999 meters 0.17043807000944453 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99946971e-01 3.13497303e-03 9.80954526e-03 -4.59705312e+00] [-3.11232651e-03 9.99992458e-01 -2.32303555e-03 -5.79204976e+00] [-9.81675393e-03 2.29238186e-03 9.99949187e-01 5.39750449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27165253199999 meters 0.16308342537135634 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99945242e-01 3.17821663e-03 9.97059941e-03 -4.59755439e+00] [-3.15458224e-03 9.99992180e-01 -2.38524039e-03 -5.79151106e+00] [-9.97810224e-03 2.35365670e-03 9.99947448e-01 5.39892802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30165253199999 meters 0.1702918596417684 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99943582e-01 3.26144500e-03 1.01092274e-02 -4.59798368e+00] [-3.23857784e-03 9.99992162e-01 -2.27755451e-03 -5.79167378e+00] [-1.01165762e-02 2.24468649e-03 9.99946307e-01 5.40050283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33165253199999 meters 0.1711275853812784 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99946058e-01 3.23129408e-03 9.87116620e-03 -4.59724945e+00] [-3.21086065e-03 9.99992671e-01 -2.08515901e-03 -5.79270489e+00] [-9.87783162e-03 2.05335159e-03 9.99949105e-01 5.39851448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361652532 meters 0.17350381330680406 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99942711e-01 3.36968226e-03 1.01597004e-02 -4.59812314e+00] [-3.34856079e-03 9.99992199e-01 -2.09524043e-03 -5.79213189e+00] [-1.01666815e-02 2.06110002e-03 9.99946194e-01 5.40091999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391652532 meters 0.1680961630958606 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99938975e-01 3.22296839e-03 1.05668897e-02 -4.59869701e+00] [-3.19389367e-03 9.99991071e-01 -2.76721484e-03 -5.79001021e+00] [-1.05757140e-02 2.73329645e-03 9.99940340e-01 5.39299051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421652532 meters 0.1735908803375113 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99934096e-01 3.16045178e-03 1.10369635e-02 -4.59957742e+00] [-3.12464336e-03 9.99989804e-01 -3.26014651e-03 -5.78818974e+00] [-1.10471545e-02 3.22544508e-03 9.99933776e-01 5.38845631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451652532 meters 0.1709437511506146 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99941077e-01 3.27457393e-03 1.03498616e-02 -4.59802322e+00] [-3.25133989e-03 9.99992159e-01 -2.26089436e-03 -5.79257325e+00] [-1.03571839e-02 2.22711022e-03 9.99943883e-01 5.39296830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48165253199998 meters 0.20284178362513744 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.54 [[ 9.99939493e-01 3.61196903e-03 1.03905577e-02 -4.59841123e+00] [-3.59527858e-03 9.99992217e-01 -1.62454059e-03 -5.79448159e+00] [-1.03963447e-02 1.58708534e-03 9.99944697e-01 5.39898187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51165253199999 meters 0.19859727608375116 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.54 [[ 9.99945500e-01 3.43534325e-03 9.85876833e-03 -4.59673522e+00] [-3.42344428e-03 9.99993391e-01 -1.22356501e-03 -5.79735587e+00] [-9.86290654e-03 1.18974738e-03 9.99950653e-01 5.39448802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54165253199999 meters 0.1896864340872094 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99951997e-01 3.08201131e-03 9.30084760e-03 -4.59474025e+00] [-3.07260791e-03 9.99994754e-01 -1.02514571e-03 -5.79949633e+00] [-9.30395831e-03 9.96518646e-04 9.99956221e-01 5.38365449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57165253199999 meters 0.18944986302411557 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.54 [[ 9.99950060e-01 3.02462219e-03 9.52514407e-03 -4.59508886e+00] [-3.01297923e-03 9.99994697e-01 -1.23645272e-03 -5.79883907e+00] [-9.52883336e-03 1.20769191e-03 9.99953870e-01 5.37974184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60165253199999 meters 0.18596801331756707 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99953395e-01 2.93543313e-03 9.19738070e-03 -4.59418811e+00] [-2.92722277e-03 9.99995305e-01 -9.06019114e-04 -5.80046376e+00] [-9.19999708e-03 8.79054107e-04 9.99957293e-01 5.37944762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63165253199999 meters 0.18286741069972737 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99954456e-01 3.02945190e-03 9.05036091e-03 -4.59387846e+00] [-3.02495329e-03 9.99995294e-01 -5.10711924e-04 -5.80194335e+00] [-9.05186550e-03 4.83311745e-04 9.99958914e-01 5.38147168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66165253199999 meters 0.17714470385247727 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99960328e-01 2.79679786e-03 8.45697210e-03 -4.59195084e+00] [-2.79622063e-03 9.99996087e-01 -8.00790589e-05 -5.80528356e+00] [-8.45716298e-03 5.64283222e-05 9.99964236e-01 5.37537734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69165253199999 meters 0.17774782343268553 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99959953e-01 2.77042966e-03 8.50982089e-03 -4.59192508e+00] [-2.76940569e-03 9.99996156e-01 -1.32108947e-04 -5.80534092e+00] [-8.51015418e-03 1.08536510e-04 9.99963782e-01 5.37307468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721652532 meters 0.1769086507998644 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99957914e-01 2.66939239e-03 8.77751246e-03 -4.59224131e+00] [-2.66494381e-03 9.99996315e-01 -5.18472242e-04 -5.80436029e+00] [-8.77886412e-03 4.95058844e-04 9.99961342e-01 5.36664652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751652532 meters 0.1759552447158891 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.54 [[ 9.99956927e-01 2.57451865e-03 8.91716431e-03 -4.59237337e+00] [-2.56784780e-03 9.99996415e-01 -7.59459966e-04 -5.80376551e+00] [-8.91908758e-03 7.36529333e-04 9.99959953e-01 5.36284904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781652532 meters 0.175280289323554 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99957742e-01 2.77838244e-03 8.76329013e-03 -4.59231152e+00] [-2.77731844e-03 9.99996134e-01 -1.33582371e-04 -5.80558230e+00] [-8.76362740e-03 1.09238278e-04 9.99961593e-01 5.36977723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811652532 meters 0.1742286249938023 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99958621e-01 2.85484453e-03 8.63745614e-03 -4.59190595e+00] [-2.85652228e-03 9.99995904e-01 1.81910001e-04 -5.80703160e+00] [-8.63690143e-03 -2.06575559e-04 9.99962680e-01 5.36884775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841652532 meters 0.1742286249938023 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99958621e-01 2.85484453e-03 8.63745614e-03 -4.59190595e+00] [-2.85652228e-03 9.99995904e-01 1.81910001e-04 -5.80703160e+00] [-8.63690143e-03 -2.06575559e-04 9.99962680e-01 5.36884775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87165253199998 meters 0.17243731257804712 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99958676e-01 2.86215435e-03 8.62873539e-03 -4.59174602e+00] [-2.86474683e-03 9.99995855e-01 2.88101726e-04 -5.80770767e+00] [-8.62787504e-03 -3.12808963e-04 9.99962730e-01 5.36712090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90165253199999 meters 0.17019001902689995 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99960570e-01 2.78862654e-03 8.43103127e-03 -4.59109109e+00] [-2.79225769e-03 9.99996014e-01 4.18948314e-04 -5.80868140e+00] [-8.42982937e-03 -4.42473407e-04 9.99964370e-01 5.36488543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93165253199999 meters 0.1659662440689328 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99961055e-01 2.60812896e-03 8.43120374e-03 -4.59053419e+00] [-2.60960383e-03 9.99996582e-01 1.63933194e-04 -5.80866570e+00] [-8.43074736e-03 -1.85928912e-04 9.99964443e-01 5.35565885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96165253199999 meters 0.1680478513455522 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99957480e-01 2.58066254e-03 8.85316738e-03 -4.59138950e+00] [-2.57830689e-03 9.99996638e-01 -2.77482364e-04 -5.80705016e+00] [-8.85385370e-03 2.54644383e-04 9.99960771e-01 5.35169514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99165253199999 meters 0.17129095656606938 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99955550e-01 2.41813209e-03 9.11316521e-03 -4.59171120e+00] [-2.41148526e-03 9.99996818e-01 -7.40284168e-04 -5.80574156e+00] [-9.11492632e-03 7.18274999e-04 9.99958200e-01 5.34579198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02165253199999 meters 0.16621140611495433 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99956071e-01 2.35579445e-03 9.07223301e-03 -4.59142276e+00] [-2.34906064e-03 9.99996958e-01 -7.52828513e-04 -5.80609758e+00] [-9.07397892e-03 7.31484216e-04 9.99958563e-01 5.34324509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05165253199999 meters 0.1687488165155811 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99954297e-01 2.37773485e-03 9.26010595e-03 -4.59179699e+00] [-2.36986050e-03 9.99996821e-01 -8.61231905e-04 -5.80581537e+00] [-9.26212429e-03 8.39247385e-04 9.99956753e-01 5.34186062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08165253199999 meters 0.1710603606602042 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99953447e-01 2.45801505e-03 9.33070218e-03 -4.59208061e+00] [-2.45134218e-03 9.99996732e-01 -7.26521105e-04 -5.80616216e+00] [-9.33245748e-03 7.03614540e-04 9.99956204e-01 5.34395148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111652532 meters 0.16571011214310302 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99954646e-01 2.62940764e-03 9.15376552e-03 -4.59178327e+00] [-2.62725244e-03 9.99996518e-01 -2.47460840e-04 -5.80785053e+00] [-9.15438433e-03 2.23400364e-04 9.99958073e-01 5.34700876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141652532 meters 0.1637699102646082 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99954338e-01 2.75511605e-03 9.15042732e-03 -4.59183511e+00] [-2.75552675e-03 9.99996203e-01 3.22759430e-05 -5.80880940e+00] [-9.15030365e-03 -5.74887164e-05 9.99958133e-01 5.34853838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171652532 meters 0.19451441367296915 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99953862e-01 2.63664573e-03 9.23699398e-03 -4.59185369e+00] [-2.63465756e-03 9.99996503e-01 -2.27401128e-04 -5.80814368e+00] [-9.23756126e-03 2.03054320e-04 9.99957312e-01 5.34513725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201652532 meters 0.19420703631764652 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99952469e-01 2.66107297e-03 9.37966362e-03 -4.59229624e+00] [-2.65846631e-03 9.99996424e-01 -2.90361560e-04 -5.80769902e+00] [-9.38040275e-03 2.65412239e-04 9.99955968e-01 5.34636234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23165253199998 meters 0.16865069190356566 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99952005e-01 2.54457272e-03 9.46111983e-03 -4.59232975e+00] [-2.53970175e-03 9.99996636e-01 -5.26820038e-04 -5.80707633e+00] [-9.46242853e-03 5.02766331e-04 9.99955104e-01 5.34353463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26165253199999 meters 0.19098823796328315 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99953377e-01 2.60654897e-03 9.29785804e-03 -4.59205892e+00] [-2.60464435e-03 9.99996584e-01 -2.16947922e-04 -5.80806547e+00] [-9.29839177e-03 1.92720194e-04 9.99956750e-01 5.34635277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29165253199999 meters 0.1902910562968717 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99953165e-01 2.57184333e-03 9.33028639e-03 -4.59209832e+00] [-2.56853652e-03 9.99996634e-01 -3.66381776e-04 -5.80756999e+00] [-9.33119726e-03 3.42399435e-04 9.99956405e-01 5.34567971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32165253199999 meters 0.19058199129162073 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.53 [[ 9.99952023e-01 2.51478903e-03 9.46721250e-03 -4.59242358e+00] [-2.50899910e-03 9.99996658e-01 -6.23404155e-04 -5.80654743e+00] [-9.46874859e-03 5.99621018e-04 9.99954991e-01 5.34512686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35165253199999 meters 0.18726491753410757 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99950477e-01 2.24745762e-03 9.69499646e-03 -4.59265023e+00] [-2.23426114e-03 9.99996563e-01 -1.37178014e-03 -5.80413885e+00] [-9.69804616e-03 1.35005105e-03 9.99952061e-01 5.33865067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38165253199999 meters 0.1815416114104748 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.80, Z:0.53 [[ 9.99949185e-01 2.49508799e-03 9.76741917e-03 -4.59326649e+00] [-2.48540031e-03 9.99996408e-01 -1.00384907e-03 -5.80486373e+00] [-9.76988877e-03 9.79522114e-04 9.99951794e-01 5.34632617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41165253199999 meters 0.18596027773057247 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99947382e-01 2.66651416e-03 9.90567436e-03 -4.59385965e+00] [-2.65866956e-03 9.99996142e-01 -8.05013542e-04 -5.80521031e+00] [-9.90778272e-03 7.78635269e-04 9.99950614e-01 5.35071839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44165253199999 meters 0.18522899587194755 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99948210e-01 2.95503477e-03 9.73886121e-03 -4.59388598e+00] [-2.95423383e-03 9.99995632e-01 -9.66269130e-05 -5.80733912e+00] [-9.73910420e-03 6.78510354e-05 9.99952571e-01 5.35927586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471652532 meters 0.182414254461869 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99950464e-01 2.98515170e-03 9.49518846e-03 -4.59323779e+00] [-2.98738651e-03 9.99995513e-01 2.21188154e-04 -5.80884915e+00] [-9.49448558e-03 -2.49542995e-04 9.99954895e-01 5.35941170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501652532 meters 0.1789999126189592 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99953352e-01 2.88032813e-03 9.21938758e-03 -4.59242096e+00] [-2.88456042e-03 9.99995740e-01 4.45799234e-04 -5.81021120e+00] [-9.21806426e-03 -4.72372319e-04 9.99957401e-01 5.35838760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531652532 meters 0.1774011033621757 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99955281e-01 2.88835730e-03 9.00517604e-03 -4.59184753e+00] [-2.89494252e-03 9.99995552e-01 7.18321356e-04 -5.81151486e+00] [-9.00306121e-03 -7.44358701e-04 9.99959195e-01 5.35841664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561652532 meters 0.17288433533746153 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.81, Z:0.54 [[ 9.99955505e-01 2.90748173e-03 8.97413804e-03 -4.59176568e+00] [-2.91491562e-03 9.99995419e-01 8.15399463e-04 -5.81194640e+00] [-8.97172618e-03 -8.41522036e-04 9.99959399e-01 5.35873404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591652532 meters 0.16870500032806138 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99961854e-01 2.70518044e-03 8.30498271e-03 -4.58974092e+00] [-2.71689711e-03 9.99995329e-01 1.39984295e-03 -5.81579496e+00] [-8.30115710e-03 -1.42235334e-03 9.99964533e-01 5.35451929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62165253199998 meters 0.16886973711965347 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99964166e-01 2.70754432e-03 8.02093658e-03 -4.58897780e+00] [-2.72196063e-03 9.99994699e-01 1.78696478e-03 -5.81763627e+00] [-8.01605578e-03 -1.80873342e-03 9.99966235e-01 5.35438237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65165253199999 meters 0.16613850470972824 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99966726e-01 2.56674444e-03 7.74328441e-03 -4.58799100e+00] [-2.58167062e-03 9.99994828e-01 1.91824904e-03 -5.81887799e+00] [-7.73832070e-03 -1.93817582e-03 9.99968180e-01 5.35025913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68165253199999 meters 0.16227948378860435 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.53 [[ 9.99969526e-01 2.33826912e-03 7.44849637e-03 -4.58681466e+00] [-2.35250681e-03 9.99995422e-01 1.90329737e-03 -5.81983483e+00] [-7.44401185e-03 -1.92076201e-03 9.99970448e-01 5.34308170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71165253199999 meters 0.15748037749415403 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.53 [[ 9.99973134e-01 2.17524285e-03 6.99991350e-03 -4.58532811e+00] [-2.19053375e-03 9.99995230e-01 2.17751722e-03 -5.82188901e+00] [-6.99514349e-03 -2.19279227e-03 9.99973129e-01 5.33703528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74165253199999 meters 0.17055938398787587 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99973905e-01 1.96450085e-03 6.95199503e-03 -4.58476805e+00] [-1.97788433e-03 9.99996203e-01 1.91877721e-03 -5.82172223e+00] [-6.94819920e-03 -1.93247738e-03 9.99973994e-01 5.33002939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77165253199999 meters 0.16774512715819354 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99975057e-01 1.88445743e-03 6.80695645e-03 -4.58430031e+00] [-1.89774729e-03 9.99996305e-01 1.94646284e-03 -5.82216797e+00] [-6.80326327e-03 -1.95933217e-03 9.99974938e-01 5.32859041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80165253199999 meters 0.1686481343368628 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99975671e-01 1.82055500e-03 6.73366747e-03 -4.58406250e+00] [-1.83364042e-03 9.99996442e-01 1.93761944e-03 -5.82236776e+00] [-6.73011596e-03 -1.94991943e-03 9.99975451e-01 5.32814226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83165253199999 meters 0.15240675032100415 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99980660e-01 1.44226810e-03 6.04974835e-03 -4.58192268e+00] [-1.45467126e-03 9.99996848e-01 2.04629602e-03 -5.82453914e+00] [-6.04677798e-03 -2.05505684e-03 9.99979606e-01 5.32156137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861652532 meters 0.16241709685942304 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99981041e-01 1.51248261e-03 5.96913229e-03 -4.58177754e+00] [-1.52606502e-03 9.99996256e-01 2.27154366e-03 -5.82539324e+00] [-5.96567426e-03 -2.28060988e-03 9.99979605e-01 5.32285015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891652532 meters 0.1586133599874617 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99981609e-01 1.38021639e-03 5.90568747e-03 -4.58133826e+00] [-1.39278219e-03 9.99996774e-01 2.12416194e-03 -5.82540961e+00] [-5.90273661e-03 -2.13234821e-03 9.99980305e-01 5.31842758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921652532 meters 0.1550562192928514 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99982181e-01 1.11472209e-03 5.86477889e-03 -4.58087912e+00] [-1.12504336e-03 9.99997824e-01 1.75686944e-03 -5.82470901e+00] [-5.86280771e-03 -1.76343627e-03 9.99981259e-01 5.31244987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951652532 meters 0.17132532499567638 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99982531e-01 1.04219474e-03 5.81824628e-03 -4.58064224e+00] [-1.05208518e-03 9.99998006e-01 1.69709764e-03 -5.82477346e+00] [-5.81646598e-03 -1.70318928e-03 9.99981634e-01 5.31071999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98165253199998 meters 0.15017964782392787 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99982370e-01 9.45512307e-04 5.86218699e-03 -4.58055514e+00] [-9.54391599e-04 9.99998401e-01 1.51205998e-03 -5.82442558e+00] [-5.86074795e-03 -1.51762814e-03 9.99981674e-01 5.30763642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01165253199999 meters 0.16256530174181164 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99981659e-01 8.77891021e-04 5.99260676e-03 -4.58071874e+00] [-8.85531333e-04 9.99998798e-01 1.27242217e-03 -5.82377115e+00] [-5.99148251e-03 -1.27770547e-03 9.99981235e-01 5.30499213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04165253199999 meters 0.1673025943956022 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99979426e-01 1.14743583e-03 6.31123426e-03 -4.58201538e+00] [-1.15664340e-03 9.99998272e-01 1.45546135e-03 -5.82337176e+00] [-6.30955331e-03 -1.46273125e-03 9.99979025e-01 5.31312768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07165253199999 meters 0.16121260309483026 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.82, Z:0.53 [[ 9.99980218e-01 1.17692171e-03 6.17890470e-03 -4.58173591e+00] [-1.18713072e-03 9.99997936e-01 1.64882759e-03 -5.82429998e+00] [-6.17695140e-03 -1.65613014e-03 9.99979551e-01 5.31472825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10165253199999 meters 0.15986550866025298 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99981310e-01 1.22755339e-03 5.98932222e-03 -4.58128191e+00] [-1.23963746e-03 9.99997203e-01 2.01430844e-03 -5.82591029e+00] [-5.98683279e-03 -2.02169538e-03 9.99980035e-01 5.31629381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13165253199999 meters 0.15796508700099873 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99983208e-01 1.21793960e-03 5.66578719e-03 -4.58033545e+00] [-1.23152228e-03 9.99996375e-01 2.39444439e-03 -5.82792391e+00] [-5.66285037e-03 -2.40138172e-03 9.99981083e-01 5.31518470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16165253199999 meters 0.15521828786383265 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99985412e-01 1.07621842e-03 5.29320001e-03 -4.57892638e+00] [-1.09034030e-03 9.99995852e-01 2.66576676e-03 -5.83026719e+00] [-5.29030911e-03 -2.67149926e-03 9.99982438e-01 5.30875088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19165253199999 meters 0.15204366627881413 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99985203e-01 1.03566840e-03 5.34049143e-03 -4.57898533e+00] [-1.04943477e-03 9.99996133e-01 2.57557668e-03 -5.82994333e+00] [-5.33780334e-03 -2.58114307e-03 9.99982423e-01 5.30751050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221652532 meters 0.15741759233580202 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99984768e-01 9.10978076e-04 5.44361402e-03 -4.57894951e+00] [-9.23836917e-04 9.99996788e-01 2.36014084e-03 -5.82955683e+00] [-5.44144650e-03 -2.36513391e-03 9.99982398e-01 5.30281932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251652532 meters 0.15604968636729571 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99985930e-01 8.50574041e-04 5.23597626e-03 -4.57821489e+00] [-8.63737197e-04 9.99996471e-01 2.51223535e-03 -5.83065879e+00] [-5.23382094e-03 -2.51672251e-03 9.99983136e-01 5.29987619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281652532 meters 0.14877354213148555 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99980496e-01 -3.28502278e-03 5.31186456e-03 -4.57834119e+00] [ 3.29283856e-03 9.99993508e-01 -1.46330686e-03 -5.83199663e+00] [-5.30702308e-03 1.48076943e-03 9.99984821e-01 5.29936940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311652532 meters 0.14547328686250066 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.83, Z:0.53 [[ 9.99981800e-01 -2.98405771e-03 5.24358413e-03 -4.57847818e+00] [ 2.98829093e-03 9.99995215e-01 -7.99664591e-04 -5.83402301e+00] [-5.24117280e-03 8.15319392e-04 9.99985933e-01 5.30517766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341652532 meters 0.1478222801841361 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99982200e-01 -2.80234347e-03 5.26750453e-03 -4.57868164e+00] [ 2.80464777e-03 9.99995974e-01 -4.30119291e-04 -5.83516793e+00] [-5.26627798e-03 4.44885129e-04 9.99986034e-01 5.30805781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37165253199998 meters 0.14612965277306603 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99982927e-01 -2.50110370e-03 5.28107628e-03 -4.57903956e+00] [ 2.49986671e-03 9.99996846e-01 2.40819382e-04 -5.83714581e+00] [-5.28166194e-03 -2.27613284e-04 9.99986026e-01 5.31466468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40165253199999 meters 0.1506291080802393 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99986229e-01 -2.47664221e-03 4.62689092e-03 -4.57742122e+00] [ 2.47105745e-03 9.99996212e-01 1.21234913e-03 -5.84194025e+00] [-4.62987595e-03 -1.20089912e-03 9.99988561e-01 5.31582869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43165253199999 meters 0.1388745590371768 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99988837e-01 -2.38150548e-03 4.08093986e-03 -4.57591823e+00] [ 2.37251635e-03 9.99994752e-01 2.20613593e-03 -5.84692094e+00] [-4.08617236e-03 -2.19642921e-03 9.99989239e-01 5.31567156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46165253199999 meters 0.14807997099635756 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99988640e-01 -2.42257340e-03 4.10490178e-03 -4.57574971e+00] [ 2.41342717e-03 9.99994598e-01 2.23161510e-03 -5.84738549e+00] [-4.11028586e-03 -2.22168287e-03 9.99989085e-01 5.31217514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49165253199999 meters 0.14716916806371982 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.85, Z:0.53 [[ 9.99989806e-01 -2.45900922e-03 3.78686358e-03 -4.57486605e+00] [ 2.44895304e-03 9.99993469e-01 2.65789403e-03 -5.84925448e+00] [-3.79337463e-03 -2.64859308e-03 9.99989298e-01 5.31122729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52165253199999 meters 0.14857591658429628 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.85, Z:0.53 [[ 9.99990670e-01 -2.36855917e-03 3.61257948e-03 -4.57421543e+00] [ 2.35688018e-03 9.99991994e-01 3.23370550e-03 -5.85203016e+00] [-3.62020978e-03 -3.22516092e-03 9.99988246e-01 5.30972523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55165253199999 meters 0.13750515329124327 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.85, Z:0.53 [[ 9.99991657e-01 -2.16257347e-03 3.46541451e-03 -4.57392193e+00] [ 2.14917914e-03 9.99990224e-01 3.86421755e-03 -5.85447945e+00] [-3.47373729e-03 -3.85673752e-03 9.99986529e-01 5.31241470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58165253199999 meters 0.13182357808054246 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99992209e-01 -2.02084455e-03 3.39094783e-03 -4.57384092e+00] [ 2.00631156e-03 9.99988812e-01 4.28376170e-03 -5.85596358e+00] [-3.39956671e-03 -4.27692502e-03 9.99985075e-01 5.31534008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611652532 meters 0.13809014177992285 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99992692e-01 -2.10695766e-03 3.18997979e-03 -4.57315343e+00] [ 2.09219021e-03 9.99987113e-01 4.62560659e-03 -5.85767301e+00] [-3.19968464e-03 -4.61889875e-03 9.99984214e-01 5.31419252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641652532 meters 0.1387543855317804 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993227e-01 -2.09100861e-03 3.02870994e-03 -4.57271384e+00] [ 2.07605451e-03 9.99985682e-01 4.93220694e-03 -5.85899233e+00] [-3.03897986e-03 -4.92588577e-03 9.99983250e-01 5.31450244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671652532 meters 0.15150270821000145 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993498e-01 -1.92207196e-03 3.05124563e-03 -4.57287366e+00] [ 1.90587567e-03 9.99984127e-01 5.30215489e-03 -5.86018621e+00] [-3.06138832e-03 -5.29630512e-03 9.99981288e-01 5.31679763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701652532 meters 0.1435476336746497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993994e-01 -1.93126420e-03 2.87777490e-03 -4.57225696e+00] [ 1.91528991e-03 9.99982801e-01 5.54337120e-03 -5.86155919e+00] [-2.88843112e-03 -5.53782614e-03 9.99980495e-01 5.31486276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73165253199998 meters 0.1435476336746497 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993994e-01 -1.93126420e-03 2.87777490e-03 -4.57225696e+00] [ 1.91528991e-03 9.99982801e-01 5.54337120e-03 -5.86155919e+00] [-2.88843112e-03 -5.53782614e-03 9.99980495e-01 5.31486276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76165253199999 meters 0.1375187119092513 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99994221e-01 -2.03167929e-03 2.72567426e-03 -4.57146396e+00] [ 2.01627316e-03 9.99982045e-01 5.64311800e-03 -5.86272113e+00] [-2.73709033e-03 -5.63758969e-03 9.99980363e-01 5.30897516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79165253199999 meters 0.1476037633545514 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993783e-01 -2.15871007e-03 2.78815598e-03 -4.57144657e+00] [ 2.14366333e-03 9.99983185e-01 5.38842471e-03 -5.86202858e+00] [-2.79974115e-03 -5.38241435e-03 9.99981595e-01 5.30602930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82165253199999 meters 0.13851496678042746 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99993474e-01 -2.14389088e-03 2.90770683e-03 -4.57194105e+00] [ 2.12854644e-03 9.99983848e-01 5.27003107e-03 -5.86121990e+00] [-2.91895823e-03 -5.26380749e-03 9.99981886e-01 5.30916977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85165253199999 meters 0.13916288521588852 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99992674e-01 -2.13694855e-03 3.17575017e-03 -4.57266761e+00] [ 2.12105146e-03 9.99985247e-01 5.00073903e-03 -5.85999927e+00] [-3.18638964e-03 -4.99396647e-03 9.99982453e-01 5.30983408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88165253199999 meters 0.13762388919823942 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99991203e-01 -2.04622960e-03 3.66147258e-03 -4.57423549e+00] [ 2.02936601e-03 9.99987345e-01 4.60348823e-03 -5.85743807e+00] [-3.67084603e-03 -4.59601726e-03 9.99982701e-01 5.31593836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91165253199999 meters 0.13914240610888612 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.86, Z:0.53 [[ 9.99990289e-01 -2.17376293e-03 3.83361404e-03 -4.57458497e+00] [ 2.15757441e-03 9.99988760e-01 4.22187384e-03 -5.85600557e+00] [-3.84274830e-03 -4.21356154e-03 9.99983739e-01 5.31436478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94165253199999 meters 0.13918954054433624 Centerline is valid? [False, False] Translation: X:-4.57, Y:-5.85, Z:0.53 [[ 9.99989340e-01 -2.32945811e-03 3.98661950e-03 -4.57484427e+00] [ 2.31437700e-03 9.99990165e-01 3.78337227e-03 -5.85446655e+00] [-3.99539349e-03 -3.77410540e-03 9.99984896e-01 5.31187411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971652532 meters 0.1412743180102488 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99987290e-01 -2.40876716e-03 4.42915118e-03 -4.57586344e+00] [ 2.39498668e-03 9.99992284e-01 3.11398974e-03 -5.85173069e+00] [-4.43661788e-03 -3.10334240e-03 9.99985343e-01 5.31005864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001652532 meters 0.1452614814342768 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99986796e-01 -2.50450160e-03 4.48722148e-03 -4.57600135e+00] [ 2.49179138e-03 9.99992874e-01 2.83589191e-03 -5.85064968e+00] [-4.49429200e-03 -2.82467325e-03 9.99985911e-01 5.30958483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031652532 meters 0.14350684265053218 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99985591e-01 -2.29823669e-03 4.85140420e-03 -4.57733738e+00] [ 2.28475661e-03 9.99993519e-01 2.78230817e-03 -5.84942791e+00] [-4.85776717e-03 -2.77118380e-03 9.99984361e-01 5.31599849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061652532 meters 0.14770478685862268 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.85, Z:0.53 [[ 9.99983971e-01 -2.38483463e-03 5.13514488e-03 -4.57812169e+00] [ 2.37306828e-03 9.99994548e-01 2.29621276e-03 -5.84720976e+00] [-5.14059297e-03 -2.28398991e-03 9.99984179e-01 5.31657819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091652532 meters 0.1590539426486219 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99979355e-01 -2.10538777e-03 6.07102045e-03 -4.58084834e+00] [ 2.09608387e-03 9.99996620e-01 1.53846621e-03 -5.84182213e+00] [-6.07423899e-03 -1.52570908e-03 9.99980388e-01 5.32391132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12165253199998 meters 0.1492267071609646 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99976136e-01 -2.01509293e-03 6.60810840e-03 -4.58246779e+00] [ 2.00804536e-03 9.99997408e-01 1.07296504e-03 -5.83892879e+00] [-6.61025340e-03 -1.05967005e-03 9.99977591e-01 5.32842319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15165253199999 meters 0.14683979119684243 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99974624e-01 -1.95793198e-03 6.84971775e-03 -4.58346918e+00] [ 1.95215267e-03 9.99997733e-01 8.50314591e-04 -5.83723447e+00] [-6.85136708e-03 -8.36921318e-04 9.99976179e-01 5.33443844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18165253199999 meters 0.14806456983802627 Centerline is valid? [False, False] Translation: X:-4.58, Y:-5.84, Z:0.53 [[ 9.99972480e-01 -1.98689736e-03 7.14777300e-03 -4.58433706e+00] [ 1.98389470e-03 9.99997941e-01 4.27149823e-04 -5.83525084e+00] [-7.14860698e-03 -4.12957639e-04 9.99974363e-01 5.33642298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21165253199999 meters 0.16746146070534426 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99966633e-01 -1.47178489e-03 8.03533550e-03 -4.58720889e+00] [ 1.47101898e-03 9.99998913e-01 1.01226879e-04 -5.83176605e+00] [-8.03547575e-03 -8.94033707e-05 9.99967711e-01 5.35037100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24165253199999 meters 0.15719027498207425 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99965462e-01 -1.56766956e-03 8.16195975e-03 -4.58756983e+00] [ 1.56959710e-03 9.99998742e-01 -2.29760843e-04 -5.83039390e+00] [-8.16158929e-03 2.42563895e-04 9.99966664e-01 5.35096571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27165253199999 meters 0.15861123600359184 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99964220e-01 -1.47737990e-03 8.32923757e-03 -4.58836933e+00] [ 1.47965106e-03 9.99998870e-01 -2.66518324e-04 -5.82948442e+00] [-8.32883441e-03 2.78833153e-04 9.99965276e-01 5.35696504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30165253199999 meters 0.15690855664149625 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99961973e-01 -1.36917515e-03 8.61271154e-03 -4.58968823e+00] [ 1.37241425e-03 9.99998990e-01 -3.70185373e-04 -5.82768317e+00] [-8.61219599e-03 3.81991504e-04 9.99962841e-01 5.36705046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33165253199999 meters 0.15590891958441652 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99962165e-01 -1.56037591e-03 8.55764976e-03 -4.58939434e+00] [ 1.56621966e-03 9.99998545e-01 -6.76208978e-04 -5.82689680e+00] [-8.55658217e-03 6.89586553e-04 9.99963154e-01 5.36436884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361652532 meters 0.15839776591017443 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99962253e-01 -1.55743626e-03 8.54792210e-03 -4.58953774e+00] [ 1.56317451e-03 9.99998557e-01 -6.64663774e-04 -5.82669678e+00] [-8.54687459e-03 6.78000579e-04 9.99963245e-01 5.36714196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391652532 meters 0.1505558949298213 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99962336e-01 -1.56933263e-03 8.53599426e-03 -4.58962677e+00] [ 1.57539273e-03 9.99998512e-01 -7.03268869e-04 -5.82637495e+00] [-8.53487789e-03 7.16689925e-04 9.99963320e-01 5.36896592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421652532 meters 0.163500878996613 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99958358e-01 2.68942852e-03 8.72062489e-03 -4.59027871e+00] [-2.71778753e-03 9.99991052e-01 3.24172886e-03 -5.82457950e+00] [-8.71182846e-03 -3.26529468e-03 9.99956720e-01 5.37228638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451652532 meters 0.1801682639118583 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99949855e-01 2.88818139e-03 9.58887412e-03 -4.59240792e+00] [-2.91299476e-03 9.99992442e-01 2.57476790e-03 -5.82100130e+00] [-9.58136526e-03 -2.60257113e-03 9.99950711e-01 5.37366706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48165253199998 meters 0.18109025026176032 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99947338e-01 2.73671724e-03 9.89098316e-03 -4.59292022e+00] [-2.75770711e-03 9.99993973e-01 2.10910613e-03 -5.81957285e+00] [-9.88515152e-03 -2.13627150e-03 9.99948859e-01 5.36991557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51165253199999 meters 0.17752327865487483 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99947907e-01 -1.35632577e-03 1.01165180e-02 -4.59370956e+00] [ 1.37794308e-03 9.99996782e-01 -2.13016876e-03 -5.81938201e+00] [-1.01135963e-02 2.14399778e-03 9.99946558e-01 5.37373014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54165253199999 meters 0.17029419472815746 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99947300e-01 -9.98284863e-04 1.02176648e-02 -4.59442324e+00] [ 1.01405966e-03 9.99998302e-01 -1.53881073e-03 -5.82093519e+00] [-1.02161113e-02 1.54909096e-03 9.99946614e-01 5.38260035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57165253199999 meters 0.166300684748957 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99950541e-01 -5.29678013e-04 9.93151446e-03 -4.59447580e+00] [ 5.33453567e-04 9.99999786e-01 -3.77513725e-04 -5.82431118e+00] [-9.93131238e-03 3.82793055e-04 9.99950610e-01 5.39719364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60165253199999 meters 0.17165485077652035 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99951799e-01 -5.77649563e-04 9.80135823e-03 -4.59410593e+00] [ 5.80817812e-04 9.99999780e-01 -3.20402441e-04 -5.82475904e+00] [-9.80117100e-03 3.26079801e-04 9.99951914e-01 5.39679049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63165253199999 meters 0.16667834443023236 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99950903e-01 -7.25447725e-04 9.88260510e-03 -4.59419900e+00] [ 7.31294027e-04 9.99999560e-01 -5.87974187e-04 -5.82353247e+00] [-9.88217421e-03 5.95172410e-04 9.99950993e-01 5.39418824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66165253199999 meters 0.16565921652457571 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99949562e-01 -7.98353460e-04 1.00117961e-02 -4.59441631e+00] [ 8.06155293e-04 9.99999375e-01 -7.75252614e-04 -5.82292671e+00] [-1.00111709e-02 7.83284574e-04 9.99949580e-01 5.39209585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69165253199999 meters 0.16617473729610077 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99952493e-01 -7.73292294e-04 9.71662692e-03 -4.59371251e+00] [ 7.77222859e-04 9.99999618e-01 -4.00749873e-04 -5.82452559e+00] [-9.71631331e-03 4.08282819e-04 9.99952712e-01 5.39355476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721652532 meters 0.16671599220795297 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99957171e-01 -5.36152013e-04 9.23949221e-03 -4.59282048e+00] [ 5.30234406e-04 9.99999653e-01 6.42906593e-04 -5.82849881e+00] [-9.23983369e-03 -6.37979961e-04 9.99957108e-01 5.40074942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751652532 meters 0.16406818635429712 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99959805e-01 -4.94934543e-04 8.95225890e-03 -4.59210925e+00] [ 4.85468638e-04 9.99999321e-01 1.05951835e-03 -5.83039006e+00] [-8.95277722e-03 -1.05512972e-03 9.99959366e-01 5.40202393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781652532 meters 0.15810776347135982 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99960952e-01 -3.48629431e-04 8.83022764e-03 -4.59197255e+00] [ 3.34815883e-04 9.99998718e-01 1.56577789e-03 -5.83219913e+00] [-8.83076219e-03 -1.56276025e-03 9.99959787e-01 5.40649979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811652532 meters 0.1529577599779047 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99969218e-01 -5.00844517e-04 7.83026981e-03 -4.58983107e+00] [ 4.81488452e-04 9.99996825e-01 2.47364351e-03 -5.83645037e+00] [-7.83148386e-03 -2.46979718e-03 9.99966283e-01 5.41254863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841652532 meters 0.15418908397675984 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99972549e-01 -5.67847545e-04 7.38772901e-03 -4.58870875e+00] [ 5.46829290e-04 9.99995799e-01 2.84673141e-03 -5.83844162e+00] [-7.38931448e-03 -2.84261344e-03 9.99968658e-01 5.41323751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87165253199998 meters 0.1484855605167952 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99974453e-01 -5.92586243e-04 7.12331935e-03 -4.58805649e+00] [ 5.70119143e-04 9.99994858e-01 3.15563806e-03 -5.83976840e+00] [-7.12515271e-03 -3.15149630e-03 9.99969650e-01 5.41389301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90165253199999 meters 0.15075077885707155 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99974446e-01 -9.04969807e-04 7.09139158e-03 -4.58763605e+00] [ 8.86531628e-04 9.99996220e-01 2.60279128e-03 -5.83811980e+00] [-7.09372022e-03 -2.59643803e-03 9.99971468e-01 5.40750982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93165253199999 meters 0.15743126887714318 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99971178e-01 -1.13383282e-03 7.50714895e-03 -4.58825626e+00] [ 1.12094118e-03 9.99997890e-01 1.72123418e-03 -5.83516015e+00] [-7.50908470e-03 -1.71276949e-03 9.99970340e-01 5.39938755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96165253199999 meters 0.1703883013804077 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99967442e-01 -1.37689281e-03 7.95101053e-03 -4.58896237e+00] [ 1.37046572e-03 9.99998730e-01 8.13728415e-04 -5.83210209e+00] [-7.95212084e-03 -8.02805335e-04 9.99968059e-01 5.39205462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99165253199999 meters 0.16263099409167595 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99965669e-01 -1.48927434e-03 8.15124078e-03 -4.58937829e+00] [ 1.48618215e-03 9.99998821e-01 3.85396221e-04 -5.83057268e+00] [-8.15180513e-03 -3.73268762e-04 9.99966704e-01 5.39045912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02165253199999 meters 0.16360189690053606 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99966213e-01 -1.24481671e-03 8.12551395e-03 -4.58995551e+00] [ 1.23894378e-03 9.99998968e-01 7.27770242e-04 -5.83105337e+00] [-8.12641150e-03 -7.17678598e-04 9.99966723e-01 5.40193177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05165253199999 meters 0.16270688366747865 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99965566e-01 -1.09759510e-03 8.22574597e-03 -4.59045047e+00] [ 1.09006308e-03 9.99998983e-01 9.20091914e-04 -5.83143442e+00] [-8.22674749e-03 -9.11093649e-04 9.99965745e-01 5.40663007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08165253199999 meters 0.17205066475136596 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99969361e-01 -1.53295665e-03 7.67640174e-03 -4.58850129e+00] [ 1.52775425e-03 9.99998599e-01 6.83531551e-04 -5.83225998e+00] [-7.67743881e-03 -6.71782953e-04 9.99970302e-01 5.39756535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111652532 meters 0.17205066475136596 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99969361e-01 -1.53295665e-03 7.67640174e-03 -4.58850129e+00] [ 1.52775425e-03 9.99998599e-01 6.83531551e-04 -5.83225998e+00] [-7.67743881e-03 -6.71782953e-04 9.99970302e-01 5.39756535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141652532 meters 0.16461610962288983 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99964744e-01 -1.62026975e-03 8.23921580e-03 -4.58985686e+00] [ 1.62096348e-03 9.99998683e-01 -7.75219472e-05 -5.82840276e+00] [-8.23907934e-03 9.08746820e-05 9.99966054e-01 5.39636379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171652532 meters 0.16496287229965548 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99963510e-01 -1.54531693e-03 8.40182864e-03 -4.59069219e+00] [ 1.54595320e-03 9.99998803e-01 -6.92358370e-05 -5.82762319e+00] [-8.40171159e-03 8.22221444e-05 9.99964702e-01 5.40295908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201652532 meters 0.16703965668602563 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99963843e-01 -1.58634255e-03 8.35442580e-03 -4.59077620e+00] [ 1.58753738e-03 9.99998731e-01 -1.36388040e-04 -5.82710908e+00] [-8.35419884e-03 1.49646072e-04 9.99965092e-01 5.40655633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23165253199998 meters 0.1679454834628849 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99962130e-01 -1.60166185e-03 8.55413519e-03 -4.59124576e+00] [ 1.60474001e-03 9.99998650e-01 -3.52992580e-04 -5.82620976e+00] [-8.55355827e-03 3.66706375e-04 9.99963350e-01 5.40610882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26165253199999 meters 0.16565635553088132 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99964866e-01 -1.53085971e-03 8.24156041e-03 -4.59064681e+00] [ 1.52989839e-03 9.99998822e-01 1.22946172e-04 -5.82801231e+00] [-8.24173892e-03 -1.10333102e-04 9.99966030e-01 5.41005352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29165253199999 meters 0.16492760674939005 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99967871e-01 -1.54782328e-03 7.86522159e-03 -4.58988937e+00] [ 1.54427853e-03 9.99998703e-01 4.56740197e-04 -5.82927843e+00] [-7.86591835e-03 -4.44579430e-04 9.99968964e-01 5.41350209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32165253199999 meters 0.16348039714745236 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99968419e-01 -1.66507176e-03 7.77098456e-03 -4.58997826e+00] [ 1.66250378e-03 9.99998561e-01 3.36905254e-04 -5.82816460e+00] [-7.77153435e-03 -3.23975323e-04 9.99969749e-01 5.41866729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35165253199999 meters 0.1605050803970534 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.83, Z:0.54 [[ 9.99965815e-01 -1.75510001e-03 8.08010306e-03 -4.59081862e+00] [ 1.75648773e-03 9.99998444e-01 -1.64652660e-04 -5.82574596e+00] [-8.07980150e-03 1.78839634e-04 9.99967342e-01 5.41860550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38165253199999 meters 0.16327040058187667 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99962134e-01 -1.93989415e-03 8.48332016e-03 -4.59162417e+00] [ 1.94817786e-03 9.99997633e-01 -9.68315351e-04 -5.82255044e+00] [-8.48142166e-03 9.84805702e-04 9.99963547e-01 5.41430405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41165253199999 meters 0.1620055959455688 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.54 [[ 9.99957028e-01 -1.74910147e-03 9.10394723e-03 -4.59349399e+00] [ 1.76092672e-03 9.99997616e-01 -1.29106037e-03 -5.81980827e+00] [-9.10166733e-03 1.30703627e-03 9.99957725e-01 5.41952674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44165253199999 meters 0.16519158679880094 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99952979e-01 -1.56688550e-03 9.56996961e-03 -4.59513737e+00] [ 1.58179523e-03 9.99997547e-01 -1.55060021e-03 -5.81754092e+00] [-9.56751652e-03 1.56566504e-03 9.99953005e-01 5.42734087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471652532 meters 0.1638989263038096 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99952430e-01 -1.43060451e-03 9.64832343e-03 -4.59562075e+00] [ 1.44436325e-03 9.99997950e-01 -1.41920757e-03 -5.81753710e+00] [-9.64627333e-03 1.43307574e-03 9.99952447e-01 5.43198856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501652532 meters 0.1614025688901765 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99951323e-01 -1.31048570e-03 9.77925925e-03 -4.59618518e+00] [ 1.32401906e-03 9.99998175e-01 -1.37753875e-03 -5.81720919e+00] [-9.77743616e-03 1.39041962e-03 9.99951233e-01 5.43574402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531652532 meters 0.18631952041127275 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.54 [[ 9.99947797e-01 -1.22955537e-03 1.01435647e-02 -4.59765643e+00] [ 1.24655141e-03 9.99997830e-01 -1.66939697e-03 -5.81458975e+00] [-1.01414900e-02 1.68195430e-03 9.99947159e-01 5.44369887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561652532 meters 0.16632437198102043 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.54 [[ 9.99946678e-01 -1.35557072e-03 1.02373738e-02 -4.59803146e+00] [ 1.37628468e-03 9.99997020e-01 -2.01659305e-03 -5.81302450e+00] [-1.02346096e-02 2.03057507e-03 9.99945563e-01 5.44534357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591652532 meters 0.16825541018573734 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99943533e-01 -1.05243663e-03 1.05746446e-02 -4.59974479e+00] [ 1.07206211e-03 9.99997713e-01 -1.85040248e-03 -5.81188891e+00] [-1.05726730e-02 1.86163467e-03 9.99942375e-01 5.45867346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62165253199998 meters 0.17168391089129267 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99941115e-01 -1.10491916e-03 1.07956699e-02 -4.60051796e+00] [ 1.12841855e-03 9.99997007e-01 -2.17089387e-03 -5.81016095e+00] [-1.07932389e-02 2.18294807e-03 9.99939369e-01 5.46181322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65165253199999 meters 0.17168391089129267 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99941115e-01 -1.10491916e-03 1.07956699e-02 -4.60051796e+00] [ 1.12841855e-03 9.99997007e-01 -2.17089387e-03 -5.81016095e+00] [-1.07932389e-02 2.18294807e-03 9.99939369e-01 5.46181322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68165253199999 meters 0.17864526168603484 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99937150e-01 2.96339072e-03 1.08126658e-02 -4.60067657e+00] [-2.98119573e-03 9.99994226e-01 1.63093516e-03 -5.80808456e+00] [-1.08077702e-02 -1.66306733e-03 9.99940211e-01 5.46358561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71165253199999 meters 0.18840556444799264 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99932414e-01 2.76412584e-03 1.12927906e-02 -4.60152259e+00] [-2.77228629e-03 9.99995907e-01 7.07034212e-04 -5.80488404e+00] [-1.12907900e-02 -7.38293275e-04 9.99935984e-01 5.45710828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74165253199999 meters 0.18253316901087255 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99931923e-01 2.52271275e-03 1.13923167e-02 -4.60152197e+00] [-2.52493715e-03 9.99996796e-01 1.80875647e-04 -5.80334246e+00] [-1.13918239e-02 -2.09628217e-04 9.99935089e-01 5.45243935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77165253199999 meters 0.17202852431412113 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99930944e-01 2.37140746e-03 1.15101617e-02 -4.60174010e+00] [-2.36901799e-03 9.99997169e-01 -2.21226340e-04 -5.80196203e+00] [-1.15106537e-02 1.93943283e-04 9.99933731e-01 5.45083559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80165253199999 meters 0.17366444721343893 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99934076e-01 2.43467558e-03 1.12212224e-02 -4.60149301e+00] [-2.43601559e-03 9.99997027e-01 1.05751293e-04 -5.80276648e+00] [-1.12209316e-02 -1.33079394e-04 9.99937035e-01 5.45918359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83165253199999 meters 0.18071140343697403 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99933338e-01 2.35910652e-03 1.13028243e-02 -4.60167150e+00] [-2.35801316e-03 9.99997214e-01 -1.10059043e-04 -5.80200859e+00] [-1.13030525e-02 8.33994980e-05 9.99936115e-01 5.45850203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861652532 meters 0.17913379009600938 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99932178e-01 2.18936114e-03 1.14387958e-02 -4.60192498e+00] [-2.18351209e-03 9.99997479e-01 -5.23798913e-04 -5.80056772e+00] [-1.14399137e-02 4.98786639e-04 9.99934438e-01 5.45671045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891652532 meters 0.1810753813212574 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99932177e-01 1.85447544e-03 1.14979374e-02 -4.60201186e+00] [-1.84175955e-03 9.99997681e-01 -1.11641747e-03 -5.79810971e+00] [-1.14999811e-02 1.09516532e-03 9.99933273e-01 5.45486796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921652532 meters 0.1720278069540921 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99930533e-01 1.67999212e-03 1.16665155e-02 -4.60231565e+00] [-1.66121763e-03 9.99997310e-01 -1.61876751e-03 -5.79628870e+00] [-1.16692036e-02 1.59927444e-03 9.99930634e-01 5.45188782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951652532 meters 0.17527398379112374 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99928600e-01 1.65033020e-03 1.18352106e-02 -4.60285381e+00] [-1.62835963e-03 9.99996934e-01 -1.86576916e-03 -5.79506962e+00] [-1.18382534e-02 1.84636397e-03 9.99928221e-01 5.45335385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98165253199998 meters 0.17306099127525557 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.55 [[ 9.99924602e-01 1.77956257e-03 1.21500352e-02 -4.60390695e+00] [-1.75565465e-03 9.99996502e-01 -1.97810746e-03 -5.79407963e+00] [-1.21535129e-02 1.95662705e-03 9.99924229e-01 5.45782392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01165253199999 meters 0.18336225913136686 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.55 [[ 9.99926430e-01 1.81153186e-03 1.19939053e-02 -4.60367658e+00] [-1.78978073e-03 9.99996735e-01 -1.82400054e-03 -5.79448788e+00] [-1.19971704e-02 1.80239988e-03 9.99926407e-01 5.46040389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04165253199999 meters 0.18887331915172934 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.55 [[ 9.99925292e-01 1.83229700e-03 1.20852485e-02 -4.60402805e+00] [-1.80966183e-03 9.99996589e-01 -1.88362881e-03 -5.79402895e+00] [-1.20886586e-02 1.86161788e-03 9.99925197e-01 5.46216156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07165253199999 meters 0.17240148000172179 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.55 [[ 9.99917362e-01 1.88455333e-03 1.27168291e-02 -4.60557329e+00] [-1.85416111e-03 9.99995398e-01 -2.40128790e-03 -5.79139880e+00] [-1.27212959e-02 2.37751041e-03 9.99916255e-01 5.46268905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10165253199999 meters 0.178893295913225 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.55 [[ 9.99913850e-01 1.84674231e-03 1.29954993e-02 -4.60617932e+00] [-1.81191061e-03 9.99994736e-01 -2.69155267e-03 -5.79020376e+00] [-1.30004015e-02 2.66777411e-03 9.99911932e-01 5.46072207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13165253199999 meters 0.18744215964316338 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.55 [[ 9.99910597e-01 1.93731745e-03 1.32304857e-02 -4.60684054e+00] [-1.90166662e-03 9.99994529e-01 -2.70664663e-03 -5.78973430e+00] [-1.32356569e-02 2.68124468e-03 9.99908810e-01 5.46193181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16165253199999 meters 0.1799302708449537 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.79, Z:0.55 [[ 9.99919846e-01 1.79319247e-03 1.25333686e-02 -4.60493288e+00] [-1.76693038e-03 9.99996221e-01 -2.10613236e-03 -5.79326538e+00] [-1.25370979e-02 2.08381796e-03 9.99919236e-01 5.45931566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19165253199999 meters 0.17950876945757968 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99992630e-01 -1.64235438e-04 -3.83574290e-03 -4.60128205e+00] [ 1.63261864e-04 9.99999954e-01 -2.54127839e-04 -5.79850777e+00] [ 3.83578446e-03 2.53499735e-04 9.99992611e-01 5.54030023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221652532 meters 0.18070047567957193 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99990784e-01 -5.41451136e-05 -4.29287426e-03 -4.60038377e+00] [ 5.64583259e-05 9.99999853e-01 5.38729958e-04 -5.80152354e+00] [ 4.29284446e-03 -5.38967362e-04 9.99990640e-01 5.54429704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251652532 meters 0.17935935827781418 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99990481e-01 -3.32404661e-04 -4.35061274e-03 -4.59983515e+00] [ 3.32911076e-04 9.99999938e-01 1.15677311e-04 -5.80059132e+00] [ 4.35057402e-03 -1.17124577e-04 9.99990529e-01 5.53740343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281652532 meters 0.1647785847119087 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99991129e-01 -5.89962013e-04 -4.17049803e-03 -4.59986671e+00] [ 5.87929573e-04 9.99999708e-01 -4.88546506e-04 -5.79885856e+00] [ 4.17078503e-03 4.86090214e-04 9.99991184e-01 5.52977539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311652532 meters 0.18615880696426482 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99991763e-01 -8.34267775e-04 -3.97212705e-03 -4.59992947e+00] [ 8.29994251e-04 9.99999075e-01 -1.07740478e-03 -5.79721200e+00] [ 3.97302222e-03 1.07409906e-03 9.99991531e-01 5.52204382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341652532 meters 0.17644529337450296 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99992896e-01 -6.12419047e-04 -3.71923401e-03 -4.60101156e+00] [ 6.08986403e-04 9.99999388e-01 -9.24006174e-04 -5.79684097e+00] [ 3.71979761e-03 9.21734647e-04 9.99992657e-01 5.52893362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37165253199998 meters 0.17110699672418578 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99993769e-01 -2.90377071e-04 -3.51832941e-03 -4.60208028e+00] [ 2.88449066e-04 9.99999808e-01 -5.48483648e-04 -5.79728206e+00] [ 3.51848800e-03 5.47465371e-04 9.99993660e-01 5.53861172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40165253199999 meters 0.1751405898539424 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99993669e-01 -1.57562715e-04 -3.55480219e-03 -4.60215914e+00] [ 1.56628553e-04 9.99999953e-01 -2.63065466e-04 -5.79816491e+00] [ 3.55484347e-03 2.62507017e-04 9.99993647e-01 5.54230545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43165253199999 meters 0.17708593510495735 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99993356e-01 -5.94896723e-06 -3.64539327e-03 -4.60190987e+00] [ 6.47686203e-06 9.99999989e-01 1.44799692e-04 -5.79984647e+00] [ 3.64539237e-03 -1.44822341e-04 9.99993345e-01 5.54296643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46165253199999 meters 0.17497618496406692 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99993216e-01 1.55675389e-04 -3.68006796e-03 -4.60186970e+00] [-1.53853082e-04 9.99999865e-01 4.95461004e-04 -5.80106998e+00] [ 3.68014460e-03 -4.94891453e-04 9.99993106e-01 5.54432180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49165253199999 meters 0.18466349220446154 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99991996e-01 -8.11901380e-05 -4.00025614e-03 -4.60042636e+00] [ 8.30628353e-05 9.99999887e-01 4.67980436e-04 -5.80233066e+00] [ 4.00021769e-03 -4.68308962e-04 9.99991889e-01 5.53491320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52165253199999 meters 0.16508818271422007 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.80, Z:0.55 [[ 9.99990884e-01 -6.43567324e-05 -4.26931339e-03 -4.59967159e+00] [ 6.80997910e-05 9.99999613e-01 8.76595917e-04 -5.80421707e+00] [ 4.26925532e-03 -8.76878666e-04 9.99990502e-01 5.53443567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55165253199999 meters 0.16889112613830912 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99989827e-01 8.60028223e-05 -4.50989791e-03 -4.59916422e+00] [-7.95647676e-05 9.99998978e-01 1.42769888e-03 -5.80637236e+00] [ 4.51001609e-03 -1.42732552e-03 9.99988811e-01 5.53655844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58165253199999 meters 0.17959163813780682 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99988598e-01 1.65510047e-04 -4.77250096e-03 -4.59844077e+00] [-1.56510837e-04 9.99998209e-01 1.88595003e-03 -5.80857680e+00] [ 4.77280456e-03 -1.88518158e-03 9.99986833e-01 5.53657405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611652532 meters 0.16932823167282682 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99987383e-01 5.75673929e-05 -5.02295672e-03 -4.59754956e+00] [-4.78665512e-05 9.99998134e-01 1.93139991e-03 -5.80934058e+00] [ 5.02305853e-03 -1.93113511e-03 9.99985520e-01 5.53253022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641652532 meters 0.17226139241127833 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99987954e-01 -9.87255813e-05 -4.90743031e-03 -4.59752239e+00] [ 1.06390253e-04 9.99998775e-01 1.56161378e-03 -5.80836996e+00] [ 4.90727013e-03 -1.56211707e-03 9.99986739e-01 5.52684280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671652532 meters 0.16690685553328563 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99988176e-01 -2.21941026e-05 -4.86284024e-03 -4.59763247e+00] [ 3.04952422e-05 9.99998543e-01 1.70698830e-03 -5.80890763e+00] [ 4.86279527e-03 -1.70711641e-03 9.99986719e-01 5.52700961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701652532 meters 0.16473685624862838 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99986708e-01 -7.06551165e-05 -5.15551138e-03 -4.59675039e+00] [ 8.07327499e-05 9.99998087e-01 1.95454819e-03 -5.81036154e+00] [ 5.15536341e-03 -1.95493842e-03 9.99984800e-01 5.52490715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73165253199998 meters 0.16842933682659703 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99985607e-01 8.51662511e-06 -5.36532119e-03 -4.59610421e+00] [ 3.84095331e-06 9.99997348e-01 2.30321729e-03 -5.81222929e+00] [ 5.36532657e-03 -2.30320475e-03 9.99982954e-01 5.52307880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76165253199999 meters 0.16542840966210318 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99986456e-01 -2.16383520e-05 -5.20456448e-03 -4.59625845e+00] [ 3.27807169e-05 9.99997708e-01 2.14080746e-03 -5.81193566e+00] [ 5.20450623e-03 -2.14094908e-03 9.99984165e-01 5.51886813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79165253199999 meters 0.17243551159283113 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99985363e-01 -1.04291886e-04 -5.40958117e-03 -4.59550822e+00] [ 1.16463580e-04 9.99997463e-01 2.24975892e-03 -5.81289931e+00] [ 5.40933281e-03 -2.25035601e-03 9.99982837e-01 5.51537393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82165253199999 meters 0.17360952465254048 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99984658e-01 -1.03591716e-04 -5.53827231e-03 -4.59507167e+00] [ 1.16901140e-04 9.99997106e-01 2.40290280e-03 -5.81376632e+00] [ 5.53800736e-03 -2.40351337e-03 9.99981777e-01 5.51379155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85165253199999 meters 0.155547966396797 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.55 [[ 9.99978902e-01 -5.12944371e-04 -6.47559439e-03 -4.59219247e+00] [ 5.30384202e-04 9.99996237e-01 2.69173303e-03 -5.81769136e+00] [ 6.47418931e-03 -2.69511079e-03 9.99975410e-01 5.50474198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88165253199999 meters 0.17804884885140437 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.55 [[ 9.99978680e-01 -4.79123322e-04 -6.51231488e-03 -4.59206205e+00] [ 4.97476132e-04 9.99995909e-01 2.81684221e-03 -5.81829980e+00] [ 6.51093863e-03 -2.82002187e-03 9.99974827e-01 5.50457630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91165253199999 meters 0.16685040046905156 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.55 [[ 9.99973454e-01 -4.43125300e-03 -5.78402306e-03 -4.59431417e+00] [ 4.42285211e-03 9.99989147e-01 -1.46441386e-03 -5.81665075e+00] [ 5.79044947e-03 1.43879310e-03 9.99982200e-01 5.51080024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94165253199999 meters 0.16815516461613936 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.82, Z:0.55 [[ 9.99973597e-01 -4.38060704e-03 -5.79786565e-03 -4.59428303e+00] [ 4.37304783e-03 9.99989572e-01 -1.31582894e-03 -5.81722942e+00] [ 5.80356933e-03 1.29043985e-03 9.99982327e-01 5.51088225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971652532 meters 0.1743665877699201 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99976344e-01 -3.97957570e-03 -5.61022288e-03 -4.59533668e+00] [ 3.97514539e-03 9.99991779e-01 -8.00613613e-04 -5.81804136e+00] [ 5.61336286e-03 7.78293222e-04 9.99983942e-01 5.51964789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001652532 meters 0.16584822497107587 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99979622e-01 -3.80505067e-03 -5.12609399e-03 -4.59664599e+00] [ 3.80001473e-03 9.99992288e-01 -9.91796025e-04 -5.81676486e+00] [ 5.12982829e-03 9.72296582e-04 9.99986370e-01 5.52055004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031652532 meters 0.17404578284485728 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99985738e-01 -3.24931974e-03 -4.23857420e-03 -4.59936139e+00] [ 3.24510795e-03 9.99994234e-01 -1.00017883e-03 -5.81483583e+00] [ 4.24179966e-03 9.86409931e-04 9.99990517e-01 5.52856286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061652532 meters 0.16976427946997869 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99987927e-01 -2.93756181e-03 -3.93904775e-03 -4.60061330e+00] [ 2.93487722e-03 9.99995457e-01 -6.87141970e-04 -5.81502764e+00] [ 3.94104838e-03 6.75573052e-04 9.99992006e-01 5.53659001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091652532 meters 0.17650699330496977 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99989665e-01 1.34805747e-03 -4.34195221e-03 -4.59953510e+00] [-1.33156511e-03 9.99991897e-01 3.79902757e-03 -5.81676936e+00] [ 4.34703833e-03 -3.79320671e-03 9.99983357e-01 5.53620125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12165253199998 meters 0.1750885764886392 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99991133e-01 1.79899926e-03 -3.80760459e-03 -4.60156311e+00] [-1.78351828e-03 9.99990146e-01 4.06530172e-03 -5.81626826e+00] [ 3.81488054e-03 -4.05847474e-03 9.99984488e-01 5.54679041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15165253199999 meters 0.17353797907886218 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99991360e-01 1.74626206e-03 -3.77227083e-03 -4.60154448e+00] [-1.73137762e-03 9.99990718e-01 3.94541785e-03 -5.81600153e+00] [ 3.77912555e-03 -3.93885254e-03 9.99985102e-01 5.54497648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18165253199999 meters 0.17687124693812095 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992672e-01 1.50821626e-03 -3.51861506e-03 -4.60159783e+00] [-1.49650148e-03 9.99993337e-01 3.32963338e-03 -5.81451369e+00] [ 3.52361342e-03 -3.32434337e-03 9.99988266e-01 5.53463354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21165253199999 meters 0.170038380447731 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99991432e-01 1.07047187e-03 -3.99874947e-03 -4.59981280e+00] [-1.05767760e-03 9.99994320e-01 3.20031441e-03 -5.81567032e+00] [ 4.00215260e-03 -3.19605761e-03 9.99986884e-01 5.52561131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24165253199999 meters 0.1686557551897302 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99991369e-01 1.13465101e-03 -3.99691639e-03 -4.59978598e+00] [-1.12124366e-03 9.99993743e-01 3.35506883e-03 -5.81623924e+00] [ 4.00069822e-03 -3.35055835e-03 9.99986384e-01 5.52514540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27165253199999 meters 0.17073051716751309 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992284e-01 9.39554685e-04 -3.81436344e-03 -4.59990745e+00] [-9.28580812e-04 9.99995428e-01 2.87773913e-03 -5.81487811e+00] [ 3.81704979e-03 -2.87417498e-03 9.99988585e-01 5.51900169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30165253199999 meters 0.17999793308522216 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99991709e-01 3.28507344e-04 -4.05889013e-03 -4.59824225e+00] [-3.19576682e-04 9.99997527e-01 2.20072472e-03 -5.81425424e+00] [ 4.05960305e-03 -2.19940935e-03 9.99989341e-01 5.50114284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33165253199999 meters 0.16906299307263847 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99991917e-01 1.04851936e-04 -4.01942008e-03 -4.59791501e+00] [-9.75326922e-05 9.99998337e-01 1.82112289e-03 -5.81346608e+00] [ 4.01960434e-03 -1.82071615e-03 9.99990264e-01 5.49385639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361652532 meters 0.18805907885337883 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992340e-01 -1.74010275e-04 -3.91008189e-03 -4.59767819e+00] [ 1.78945695e-04 9.99999188e-01 1.26191478e-03 -5.81216163e+00] [ 3.90985912e-03 -1.26260481e-03 9.99991559e-01 5.48499758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391652532 meters 0.16940224961449343 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992363e-01 1.77622043e-04 -3.90417921e-03 -4.59827817e+00] [-1.70047056e-04 9.99998103e-01 1.94047144e-03 -5.81375795e+00] [ 3.90451648e-03 -1.93979273e-03 9.99990496e-01 5.49519431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421652532 meters 0.16098758407364924 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992194e-01 3.14470955e-04 -3.93855484e-03 -4.59832550e+00] [-3.05668471e-04 9.99997455e-01 2.23535539e-03 -5.81478813e+00] [ 3.93924777e-03 -2.23413405e-03 9.99989745e-01 5.49800528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451652532 meters 0.1637176745840978 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99992870e-01 4.05944012e-04 -3.75442892e-03 -4.59883973e+00] [-3.97489072e-04 9.99997384e-01 2.25246323e-03 -5.81465524e+00] [ 3.75533347e-03 -2.25095482e-03 9.99990415e-01 5.49885561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48165253199998 meters 0.16755897773522002 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99993115e-01 3.52635733e-04 -3.69409705e-03 -4.59892128e+00] [-3.44679240e-04 9.99997620e-01 2.15425502e-03 -5.81439463e+00] [ 3.69484793e-03 -2.15296691e-03 9.99990856e-01 5.49766467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51165253199999 meters 0.17169752747123931 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99994080e-01 3.12955499e-04 -3.42657687e-03 -4.59938725e+00] [-3.06512229e-04 9.99998184e-01 1.88074478e-03 -5.81352902e+00] [ 3.42715924e-03 -1.87968336e-03 9.99992361e-01 5.49393670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54165253199999 meters 0.17169752747123931 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99994080e-01 3.12955499e-04 -3.42657687e-03 -4.59938725e+00] [-3.06512229e-04 9.99998184e-01 1.88074478e-03 -5.81352902e+00] [ 3.42715924e-03 -1.87968336e-03 9.99992361e-01 5.49393670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57165253199999 meters 0.1583665139291545 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99994962e-01 2.25510049e-04 -3.16615101e-03 -4.59976376e+00] [-2.20619452e-04 9.99998782e-01 1.54491480e-03 -5.81252243e+00] [ 3.16649555e-03 -1.54420851e-03 9.99993794e-01 5.48912322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60165253199999 meters 0.1614261675452164 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99994701e-01 2.34381745e-04 -3.24689335e-03 -4.59939130e+00] [-2.28821816e-04 9.99998507e-01 1.71264978e-03 -5.81346587e+00] [ 3.24728992e-03 -1.71189775e-03 9.99993262e-01 5.48613722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63165253199999 meters 0.1737114486175939 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99995408e-01 2.24491828e-04 -3.02224754e-03 -4.59994296e+00] [-2.19979730e-04 9.99998861e-01 1.49321058e-03 -5.81254332e+00] [ 3.02257931e-03 -1.49253889e-03 9.99994318e-01 5.48552000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66165253199999 meters 0.1734889500713057 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996343e-01 6.71668365e-05 -2.70344498e-03 -4.60041706e+00] [-6.45434039e-05 9.99999527e-01 9.70479096e-04 -5.81092959e+00] [ 2.70350889e-03 -9.70301058e-04 9.99995875e-01 5.47969837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69165253199999 meters 0.17068319318232245 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996522e-01 -6.34548784e-05 -2.63667940e-03 -4.60034580e+00] [ 6.52958016e-05 9.99999754e-01 6.98117366e-04 -5.81025357e+00] [ 2.63663445e-03 -6.98287102e-04 9.99996280e-01 5.47529737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721652532 meters 0.1717612607481507 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996893e-01 -7.59410568e-05 -2.49150028e-03 -4.60069017e+00] [ 7.73851761e-05 9.99999829e-01 5.79527081e-04 -5.80974994e+00] [ 2.49145584e-03 -5.79718086e-04 9.99996728e-01 5.47461749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751652532 meters 0.16830269094936426 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996846e-01 2.96614416e-04 -2.49418264e-03 -4.60109404e+00] [-2.93442663e-04 9.99999148e-01 1.27192991e-03 -5.81181983e+00] [ 2.49455779e-03 -1.27119400e-03 9.99996081e-01 5.48208703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781652532 meters 0.16166140886024802 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996929e-01 5.16604987e-04 -2.42381619e-03 -4.60154021e+00] [-5.12541107e-04 9.99998463e-01 1.67696684e-03 -5.81289722e+00] [ 2.42467879e-03 -1.67571938e-03 9.99995656e-01 5.48722594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811652532 meters 0.1619165080284371 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996283e-01 5.65445776e-04 -2.66739974e-03 -4.60103186e+00] [-5.59889636e-04 9.99997673e-01 2.08326685e-03 -5.81460241e+00] [ 2.66857151e-03 -2.08176566e-03 9.99994272e-01 5.48973169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841652532 meters 0.16241051529278638 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996270e-01 5.75941334e-04 -2.66985921e-03 -4.60108626e+00] [-5.70253925e-04 9.99997568e-01 2.13050025e-03 -5.81474987e+00] [ 2.67107976e-03 -2.12896980e-03 9.99994166e-01 5.49094390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87165253199998 meters 0.16785463984519178 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99997379e-01 4.06407642e-04 -2.25298977e-03 -4.60169523e+00] [-4.02984665e-04 9.99998764e-01 1.51955034e-03 -5.81278679e+00] [ 2.25360454e-03 -1.51863844e-03 9.99996307e-01 5.48373803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90165253199999 meters 0.16602738871190412 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99997320e-01 3.65668318e-04 -2.28626268e-03 -4.60147833e+00] [-3.62186202e-04 9.99998774e-01 1.52328906e-03 -5.81301937e+00] [ 2.28681689e-03 -1.52245692e-03 9.99996226e-01 5.48142833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93165253199999 meters 0.16770089646443323 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99997248e-01 3.06003721e-04 -2.32591352e-03 -4.60122954e+00] [-3.02491230e-04 9.99998814e-01 1.51035747e-03 -5.81325841e+00] [ 2.32637294e-03 -1.50964974e-03 9.99996154e-01 5.47915374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96165253199999 meters 0.1611410662911015 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99995976e-01 -1.13072281e-04 -2.83478007e-03 -4.59922808e+00] [ 1.17059965e-04 9.99999004e-01 1.40657303e-03 -5.81474605e+00] [ 2.83461820e-03 -1.40689921e-03 9.99994993e-01 5.46735410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99165253199999 meters 0.17497129882466433 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996099e-01 1.18572665e-04 -2.79077164e-03 -4.59959658e+00] [-1.13607122e-04 9.99998410e-01 1.77936352e-03 -5.81561395e+00] [ 2.79097818e-03 -1.77903952e-03 9.99994523e-01 5.47167052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02165253199999 meters 0.1608350978198224 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996349e-01 1.58258512e-05 -2.70207873e-03 -4.59957438e+00] [-1.15848828e-05 9.99998768e-01 1.56952910e-03 -5.81518629e+00] [ 2.70210024e-03 -1.56949207e-03 9.99995118e-01 5.46769760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05165253199999 meters 0.15692145390069215 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99995909e-01 9.50909919e-06 -2.86036236e-03 -4.59913571e+00] [-4.42217319e-06 9.99998419e-01 1.77842120e-03 -5.81617266e+00] [ 2.86037475e-03 -1.77840127e-03 9.99994328e-01 5.46731985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08165253199999 meters 0.15635545847682494 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99995464e-01 -8.71269145e-06 -3.01206294e-03 -4.59889516e+00] [ 1.44972181e-05 9.99998156e-01 1.92043695e-03 -5.81669210e+00] [ 3.01204065e-03 -1.92047191e-03 9.99993620e-01 5.47011398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111652532 meters 0.16986717296527057 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99995948e-01 8.19776442e-05 -2.84553136e-03 -4.59956021e+00] [-7.64888268e-05 9.99998137e-01 1.92898053e-03 -5.81627487e+00] [ 2.84568419e-03 -1.92875506e-03 9.99994091e-01 5.47439419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141652532 meters 0.17392904051704952 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996442e-01 1.09029557e-04 -2.66538200e-03 -4.60003609e+00] [-1.04117960e-04 9.99998297e-01 1.84280590e-03 -5.81587523e+00] [ 2.66557838e-03 -1.84252183e-03 9.99994750e-01 5.47524480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171652532 meters 0.16415212687712555 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996845e-01 1.31343980e-04 -2.50860764e-03 -4.60029193e+00] [-1.26876450e-04 9.99998406e-01 1.78095615e-03 -5.81575523e+00] [ 2.50883756e-03 -1.78063225e-03 9.99995268e-01 5.47308182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201652532 meters 0.1692418265821236 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99996853e-01 -1.76615905e-04 -2.50255113e-03 -4.59969206e+00] [ 1.79754500e-04 9.99999198e-01 1.25398896e-03 -5.81483272e+00] [ 2.50232764e-03 -1.25443486e-03 9.99996082e-01 5.46271609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23165253199998 meters 0.16924782335611735 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99997051e-01 -4.12145644e-04 -2.39343731e-03 -4.59951776e+00] [ 4.13957733e-04 9.99999628e-01 7.56661244e-04 -5.81367727e+00] [ 2.39312457e-03 -7.57649795e-04 9.99996849e-01 5.45499912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26165253199999 meters 0.16859350378751597 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.55 [[ 9.99997596e-01 -2.95276755e-04 -2.17260040e-03 -4.60023828e+00] [ 2.97043597e-04 9.99999625e-01 8.12960899e-04 -5.81339605e+00] [ 2.17235954e-03 -8.13604302e-04 9.99997309e-01 5.45750419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29165253199999 meters 0.16753696435004892 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.81, Z:0.54 [[ 9.99997252e-01 -5.30131072e-04 -2.28366378e-03 -4.59940479e+00] [ 5.31410958e-04 9.99999702e-01 5.59882311e-04 -5.81344510e+00] [ 2.28336629e-03 -5.61094336e-04 9.99997236e-01 5.44847337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32165253199999 meters 0.1626084112518998 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996520e-01 -2.39071626e-04 -2.62730147e-03 -4.59885171e+00] [ 2.43125680e-04 9.99998780e-01 1.54283751e-03 -5.81712636e+00] [ 2.62692942e-03 -1.54347091e-03 9.99995358e-01 5.45501661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35165253199999 meters 0.15939524133578897 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996568e-01 -8.67585866e-05 -2.61854969e-03 -4.59905354e+00] [ 9.16105249e-05 9.99998279e-01 1.85284746e-03 -5.81807822e+00] [ 2.61838444e-03 -1.85308099e-03 9.99994855e-01 5.45881016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38165253199999 meters 0.1592849115854504 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996973e-01 6.87095186e-05 -2.45958051e-03 -4.59972657e+00] [-6.37130609e-05 9.99997935e-01 2.03144749e-03 -5.81821564e+00] [ 2.45971501e-03 -2.03128463e-03 9.99994912e-01 5.46361179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41165253199999 meters 0.1552560592093727 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996894e-01 -8.06429819e-05 -2.49125978e-03 -4.59937019e+00] [ 8.53204997e-05 9.99998234e-01 1.87752207e-03 -5.81819670e+00] [ 2.49110397e-03 -1.87772879e-03 9.99995134e-01 5.45923298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44165253199999 meters 0.1699148369617952 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.55 [[ 9.99996860e-01 -2.17393888e-04 -2.49638475e-03 -4.59900549e+00] [ 2.21624880e-04 9.99998539e-01 1.69469615e-03 -5.81810272e+00] [ 2.49601269e-03 -1.69524409e-03 9.99995448e-01 5.45373897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471652532 meters 0.16318004549186604 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99997127e-01 -2.66257899e-04 -2.38242899e-03 -4.59902031e+00] [ 2.69967178e-04 9.99998752e-01 1.55674544e-03 -5.81793702e+00] [ 2.38201152e-03 -1.55738414e-03 9.99995950e-01 5.44954234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501652532 meters 0.1697759942826741 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99996497e-01 -3.73301151e-04 -2.62055513e-03 -4.59787027e+00] [ 3.77728827e-04 9.99998502e-01 1.68930327e-03 -5.81972919e+00] [ 2.61992058e-03 -1.69028721e-03 9.99995139e-01 5.44184972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531652532 meters 0.16679446644417428 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99996124e-01 -2.20850772e-04 -2.77554882e-03 -4.59749248e+00] [ 2.26911624e-04 9.99997590e-01 2.18353369e-03 -5.82173687e+00] [ 2.77505990e-03 -2.18415503e-03 9.99993764e-01 5.44340523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561652532 meters 0.16563950757628715 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99995765e-01 4.39445633e-06 -2.91037339e-03 -4.59730231e+00] [ 3.80426851e-06 9.99996032e-01 2.81705822e-03 -5.82400052e+00] [ 2.91037423e-03 -2.81705736e-03 9.99991797e-01 5.44731050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591652532 meters 0.16373037756196046 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99994286e-01 -1.24798627e-04 -3.37833627e-03 -4.59570178e+00] [ 1.35877248e-04 9.99994614e-01 3.27928198e-03 -5.82720831e+00] [ 3.37790882e-03 -3.27972228e-03 9.99988917e-01 5.44172913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62165253199998 meters 0.16071747906397943 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99985923e-01 -4.23072455e-03 -3.20217671e-03 -4.59630886e+00] [ 4.22850674e-03 9.99990815e-01 -6.99048247e-04 -5.82801561e+00] [ 3.20510478e-03 6.85497981e-04 9.99994629e-01 5.44461882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65165253199999 meters 0.15833269734682553 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.55 [[ 9.99986410e-01 -3.84623460e-03 -3.51951318e-03 -4.59600475e+00] [ 3.84783134e-03 9.99992497e-01 4.47024880e-04 -5.83171211e+00] [ 3.51776741e-03 -4.60561298e-04 9.99993707e-01 5.45399200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68165253199999 meters 0.1558542583901496 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.55 [[ 9.99986242e-01 -3.70579303e-03 -3.71259401e-03 -4.59547614e+00] [ 3.70942598e-03 9.99992648e-01 9.72138667e-04 -5.83389602e+00] [ 3.70896416e-03 -9.85896885e-04 9.99992636e-01 5.45402878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71165253199999 meters 0.16510242821878554 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.55 [[ 9.99987345e-01 -3.57614906e-03 -3.53850609e-03 -4.59579057e+00] [ 3.58002029e-03 9.99993000e-01 1.08830066e-03 -5.83436100e+00] [ 3.53458940e-03 -1.10095481e-03 9.99993147e-01 5.45218682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74165253199999 meters 0.15458129653669098 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99986715e-01 -3.73028910e-03 -3.55738341e-03 -4.59532673e+00] [ 3.73369635e-03 9.99992577e-01 9.51636415e-04 -5.83455172e+00] [ 3.55380712e-03 -9.64905962e-04 9.99993220e-01 5.44544471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77165253199999 meters 0.1520704489499893 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.54 [[ 9.99986813e-01 -3.59982016e-03 -3.66274039e-03 -4.59522535e+00] [ 3.60479961e-03 9.99992586e-01 1.35379501e-03 -5.83585955e+00] [ 3.65783981e-03 -1.36698060e-03 9.99992376e-01 5.44851272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80165253199999 meters 0.15672666297721402 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.55 [[ 9.99987871e-01 -3.20628303e-03 -3.73870969e-03 -4.59540914e+00] [ 3.21426050e-03 9.99992566e-01 2.12969774e-03 -5.83845226e+00] [ 3.73185349e-03 -2.14168909e-03 9.99990743e-01 5.45602347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83165253199999 meters 0.14877247093654625 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.55 [[ 9.99989015e-01 -2.95301963e-03 -3.63997752e-03 -4.59585704e+00] [ 2.96221888e-03 9.99992426e-01 2.52448782e-03 -5.83962681e+00] [ 3.63249509e-03 -2.53524250e-03 9.99990189e-01 5.46038497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861652532 meters 0.14798812675246567 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.55 [[ 9.99989334e-01 -2.69282297e-03 -3.75253307e-03 -4.59570958e+00] [ 2.70457593e-03 9.99991443e-01 3.13045813e-03 -5.84188413e+00] [ 3.74407119e-03 -3.14057375e-03 9.99988059e-01 5.46364318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891652532 meters 0.15258797041711575 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.55 [[ 9.99987634e-01 -2.80443401e-03 -4.10701078e-03 -4.59443982e+00] [ 2.81823816e-03 9.99990387e-01 3.35919756e-03 -5.84400998e+00] [ 4.09755065e-03 -3.37073055e-03 9.99985924e-01 5.45840745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921652532 meters 0.15185679351121453 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.55 [[ 9.99988069e-01 -2.66986638e-03 -4.09069067e-03 -4.59451967e+00] [ 2.68476306e-03 9.99989770e-01 3.64045270e-03 -5.84500509e+00] [ 4.08092930e-03 -3.65139180e-03 9.99985007e-01 5.45955056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951652532 meters 0.1479926138799137 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.55 [[ 9.99988008e-01 -2.75306480e-03 -4.05025432e-03 -4.59431242e+00] [ 2.76731987e-03 9.99989982e-01 3.51816490e-03 -5.84505264e+00] [ 4.04052801e-03 -3.52933106e-03 9.99985609e-01 5.45476883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98165253199998 meters 0.14136370785869531 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.55 [[ 9.99988170e-01 -2.73345174e-03 -4.02333620e-03 -4.59411222e+00] [ 2.74801253e-03 9.99989679e-01 3.61801461e-03 -5.84587818e+00] [ 4.01340500e-03 -3.62902799e-03 9.99985361e-01 5.45076414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01165253199999 meters 0.1543489788291108 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99984794e-01 -3.12300859e-03 -4.54514616e-03 -4.59185780e+00] [ 3.13928586e-03 9.99988669e-01 3.57852349e-03 -5.84802892e+00] [ 4.53391890e-03 -3.59273759e-03 9.99983268e-01 5.43531643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04165253199999 meters 0.14671805108491318 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99984752e-01 -2.96140803e-03 -4.66099837e-03 -4.59167699e+00] [ 2.98008906e-03 9.99987535e-01 4.00611637e-03 -5.84959888e+00] [ 4.64907653e-03 -4.01994548e-03 9.99981113e-01 5.43797914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07165253199999 meters 0.14627496851989005 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985515e-01 -2.71022940e-03 -4.65012085e-03 -4.59191487e+00] [ 2.73118369e-03 9.99986119e-01 4.50576560e-03 -5.85123470e+00] [ 4.63784464e-03 -4.51840067e-03 9.99979037e-01 5.44234317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10165253199999 meters 0.15179024495713184 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99986361e-01 -2.49718871e-03 -4.58723137e-03 -4.59222770e+00] [ 2.51956455e-03 9.99984926e-01 4.87856598e-03 -5.85238230e+00] [ 4.57497952e-03 -4.89005727e-03 9.99977578e-01 5.44545954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13165253199999 meters 0.1629115250926193 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99986322e-01 -2.59064077e-03 -4.54355440e-03 -4.59194341e+00] [ 2.61213285e-03 9.99985399e-01 4.73069567e-03 -5.85248693e+00] [ 4.53123252e-03 -4.74249934e-03 9.99978488e-01 5.43908502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16165253199999 meters 0.16067714033332262 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99986361e-01 -2.65150501e-03 -4.49979733e-03 -4.59184960e+00] [ 2.67250450e-03 9.99985537e-01 4.66718564e-03 -5.85260099e+00] [ 4.48735718e-03 -4.67914771e-03 9.99978984e-01 5.43595700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19165253199999 meters 0.1448110613218165 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99984466e-01 -2.80903716e-03 -4.81424344e-03 -4.59087187e+00] [ 2.83194770e-03 9.99984667e-01 4.75871612e-03 -5.85364037e+00] [ 4.80080221e-03 -4.77227589e-03 9.99977089e-01 5.43344308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221652532 meters 0.17220975260597443 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99983106e-01 -2.68220418e-03 -5.15685456e-03 -4.59010931e+00] [ 2.70991317e-03 9.99981889e-01 5.37377863e-03 -5.85643715e+00] [ 5.14234760e-03 -5.38766248e-03 9.99972264e-01 5.43625674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251652532 meters 0.14091644487841298 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99983145e-01 -2.64436752e-03 -5.16888346e-03 -4.59002486e+00] [ 2.67259832e-03 9.99981509e-01 5.46242647e-03 -5.85693642e+00] [ 5.15434322e-03 -5.47614875e-03 9.99971722e-01 5.43580390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281652532 meters 0.1449799007365842 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99984038e-01 -2.59061195e-03 -5.02120523e-03 -4.59046116e+00] [ 2.61773616e-03 9.99981978e-01 5.40290869e-03 -5.85654041e+00] [ 5.00711790e-03 -5.41596664e-03 9.99972798e-01 5.43653685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311652532 meters 0.1357428461224586 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99983615e-01 -2.88099422e-03 -4.94658216e-03 -4.59012370e+00] [ 2.90495197e-03 9.99984053e-01 4.84295860e-03 -5.85527542e+00] [ 4.93255074e-03 -4.85724883e-03 9.99976038e-01 5.42746174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341652532 meters 0.1449639700190663 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99983960e-01 -3.12549552e-03 -4.72347206e-03 -4.59036418e+00] [ 3.14522621e-03 9.99986336e-01 4.17552025e-03 -5.85304817e+00] [ 4.71035695e-03 -4.19030966e-03 9.99980127e-01 5.42113546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37165253199998 meters 0.16197984073867835 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99984976e-01 -2.94395318e-03 -4.62401931e-03 -4.59086046e+00] [ 2.96434895e-03 9.99985881e-01 4.41018942e-03 -5.85354037e+00] [ 4.61097063e-03 -4.42383037e-03 9.99979584e-01 5.42532930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40165253199999 meters 0.1689266278184626 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985018e-01 -2.84256391e-03 -4.67790644e-03 -4.59080002e+00] [ 2.86434324e-03 9.99985060e-01 4.65569144e-03 -5.85449926e+00] [ 4.66460245e-03 -4.66902082e-03 9.99978221e-01 5.42719600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43165253199999 meters 0.16919051176678315 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99984861e-01 -2.79583832e-03 -4.73932399e-03 -4.59059831e+00] [ 2.81860687e-03 9.99984487e-01 4.80432464e-03 -5.85528793e+00] [ 4.72581836e-03 -4.81761020e-03 9.99977228e-01 5.42690408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46165253199999 meters 0.16919051176678315 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.86, Z:0.54 [[ 9.99984861e-01 -2.79583832e-03 -4.73932399e-03 -4.59059831e+00] [ 2.81860687e-03 9.99984487e-01 4.80432464e-03 -5.85528793e+00] [ 4.72581836e-03 -4.81761020e-03 9.99977228e-01 5.42690408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49165253199999 meters 0.1641943418815719 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985209e-01 -2.95268658e-03 -4.56759719e-03 -4.59075022e+00] [ 2.97270023e-03 9.99985984e-01 4.38109291e-03 -5.85400827e+00] [ 4.55459718e-03 -4.39460621e-03 9.99979971e-01 5.42149488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52165253199999 meters 0.16454335797974795 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985336e-01 -3.13670927e-03 -4.41450571e-03 -4.59092542e+00] [ 3.15392832e-03 9.99987425e-01 3.89902042e-03 -5.85241867e+00] [ 4.40222010e-03 -3.91288628e-03 9.99982655e-01 5.41715326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55165253199999 meters 0.16256450952775203 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985762e-01 -3.20275462e-03 -4.26829859e-03 -4.59116609e+00] [ 3.21838890e-03 9.99988119e-01 3.66106164e-03 -5.85164532e+00] [ 4.25652240e-03 -3.67474656e-03 9.99984189e-01 5.41458751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58165253199999 meters 0.1593087533419055 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985077e-01 -3.24683753e-03 -4.39365342e-03 -4.59059016e+00] [ 3.26332370e-03 9.99987643e-01 3.75031718e-03 -5.85257748e+00] [ 4.38142245e-03 -3.76459913e-03 9.99983315e-01 5.41025152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611652532 meters 0.15870777428807903 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985183e-01 -3.32443441e-03 -4.31074011e-03 -4.59065022e+00] [ 3.33971414e-03 9.99988149e-01 3.54223353e-03 -5.85194581e+00] [ 4.29891310e-03 -3.55657768e-03 9.99984435e-01 5.40730620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641652532 meters 0.15939675575228127 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99985762e-01 -3.50628115e-03 -4.02261962e-03 -4.59110914e+00] [ 3.51809592e-03 9.99989508e-01 2.93377562e-03 -5.84984948e+00] [ 4.01229077e-03 -2.94788581e-03 9.99987606e-01 5.40189989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671652532 meters 0.15638602346771266 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99987870e-01 -3.22515774e-03 -3.72257706e-03 -4.59256427e+00] [ 3.23693579e-03 9.99989761e-01 3.16227422e-03 -5.84917729e+00] [ 3.71234011e-03 -3.17428561e-03 9.99988071e-01 5.41290938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701652532 meters 0.15567064147266813 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99988713e-01 -3.21300999e-03 -3.50004583e-03 -4.59316778e+00] [ 3.22338671e-03 9.99990415e-01 2.96314280e-03 -5.84825418e+00] [ 3.49049167e-03 -2.97439136e-03 9.99989485e-01 5.41338085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73165253199998 meters 0.15979442386271692 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99990030e-01 -3.12802501e-03 -3.18690317e-03 -4.59410671e+00] [ 3.13705360e-03 9.99991069e-01 2.83198069e-03 -5.84725236e+00] [ 3.17801621e-03 -2.84194994e-03 9.99990912e-01 5.41533532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76165253199999 meters 0.15321375398486103 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99990264e-01 -3.11770585e-03 -3.12291951e-03 -4.59436278e+00] [ 3.12645710e-03 9.99991189e-01 2.80131479e-03 -5.84685755e+00] [ 3.11415832e-03 -2.81105119e-03 9.99991200e-01 5.41617615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79165253199999 meters 0.15104196821036883 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.85, Z:0.54 [[ 9.99989869e-01 -3.29651308e-03 -3.06516252e-03 -4.59434556e+00] [ 3.30392921e-03 9.99991620e-01 2.41758237e-03 -5.84558867e+00] [ 3.05716724e-03 -2.42768495e-03 9.99992380e-01 5.41256944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82165253199999 meters 0.1675269781779446 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.84, Z:0.54 [[ 9.99995517e-01 7.62332422e-04 -2.89574835e-03 -4.59455793e+00] [-7.45042224e-04 9.99981918e-01 5.96728432e-03 -5.84297703e+00] [ 2.90024504e-03 -5.96510012e-03 9.99978003e-01 5.40761746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85165253199999 meters 0.1519461008209292 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.54 [[ 9.99996243e-01 9.45472294e-04 -2.57289636e-03 -4.59582717e+00] [-9.30160894e-04 9.99981891e-01 5.94574025e-03 -5.84178952e+00] [ 2.57847130e-03 -5.94332471e-03 9.99979014e-01 5.41466060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88165253199999 meters 0.16809571123271752 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.54 [[ 9.99997189e-01 8.29197411e-04 -2.22148756e-03 -4.59659998e+00] [-8.17312955e-04 9.99985380e-01 5.34535062e-03 -5.83946720e+00] [ 2.22588744e-03 -5.34351995e-03 9.99983246e-01 5.41239072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91165253199999 meters 0.15517669405018353 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.84, Z:0.54 [[ 9.99998394e-01 9.28122382e-04 -1.53288301e-03 -4.59869035e+00] [-9.20924000e-04 9.99988578e-01 4.69002455e-03 -5.83562445e+00] [ 1.53721842e-03 -4.68860536e-03 9.99987827e-01 5.41918094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94165253199999 meters 0.15763583701991934 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99999016e-01 7.19359578e-04 -1.20475090e-03 -4.59935714e+00] [-7.14613919e-04 9.99992003e-01 3.93492918e-03 -5.83282675e+00] [ 1.20757190e-03 -3.93406437e-03 9.99991532e-01 5.41572026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971652532 meters 0.1582766628914187 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99999592e-01 5.01558256e-04 -7.51017035e-04 -4.60022411e+00] [-4.99295792e-04 9.99995346e-01 3.00969589e-03 -5.82942350e+00] [ 7.52523078e-04 -3.00931968e-03 9.99995189e-01 5.41056357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001652532 meters 0.1712787752177716 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.83, Z:0.54 [[ 9.99999908e-01 3.24727153e-04 -2.81479849e-04 -4.60118954e+00] [-3.24144801e-04 9.99997812e-01 2.06647797e-03 -5.82591525e+00] [ 2.82150275e-04 -2.06638654e-03 9.99997825e-01 5.40575516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031652532 meters 0.17020300046158304 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99999945e-01 9.28954582e-05 3.16858570e-04 -4.60247585e+00] [-9.31643288e-05 9.99999636e-01 8.48641557e-04 -5.82109556e+00] [-3.16779620e-04 -8.48671031e-04 9.99999590e-01 5.40087714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061652532 meters 0.15835058227027515 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99999856e-01 3.68081175e-05 5.35923683e-04 -4.60319430e+00] [-3.70640865e-05 9.99999885e-01 4.77620028e-04 -5.81923970e+00] [-5.35906042e-04 -4.77639822e-04 9.99999742e-01 5.40285234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091652532 meters 0.1692926984654274 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.82, Z:0.54 [[ 9.99999499e-01 -4.54234040e-05 1.00030208e-03 -4.60449539e+00] [ 4.56546738e-05 9.99999972e-01 -2.31178390e-04 -5.81582834e+00] [-1.00029155e-03 2.31223942e-04 9.99999473e-01 5.40420507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12165253199998 meters 0.18531946228712026 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.81, Z:0.54 [[ 9.99987322e-01 4.52672238e-03 2.20569183e-03 -4.60794947e+00] [-4.53305290e-03 9.99985597e-01 2.87358562e-03 -5.80862267e+00] [-2.19265214e-03 -2.88354771e-03 9.99993439e-01 5.41209650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15165253199999 meters 0.17527540659544086 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.80, Z:0.54 [[ 9.99988234e-01 4.06182016e-03 2.65213714e-03 -4.60854995e+00] [-4.06591429e-03 9.99990548e-01 1.54014775e-03 -5.80401704e+00] [-2.64585627e-03 -1.55091299e-03 9.99995297e-01 5.40208656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18165253199999 meters 0.18165899589997925 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.80, Z:0.54 [[ 9.99988030e-01 3.82487251e-03 3.05136176e-03 -4.60928291e+00] [-3.82682307e-03 9.99992477e-01 6.33661815e-04 -5.80082643e+00] [-3.04891513e-03 -6.45331251e-04 9.99995144e-01 5.39705052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21165253199999 meters 0.18381699482291486 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.80, Z:0.54 [[ 9.99988132e-01 3.64067952e-03 3.23757626e-03 -4.60964512e+00] [-3.64105329e-03 9.99993365e-01 1.09562040e-04 -5.79907813e+00] [-3.23715590e-03 -1.21348928e-04 9.99994753e-01 5.39526801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24165253199999 meters 0.17755936313891738 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.80, Z:0.54 [[ 9.99986884e-01 3.82795098e-03 3.40284857e-03 -4.61054198e+00] [-3.82875632e-03 9.99992644e-01 2.30182486e-04 -5.79862890e+00] [-3.40194241e-03 -2.43208145e-04 9.99994184e-01 5.40287102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27165253199999 meters 0.1787724373100349 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.54 [[ 9.99984575e-01 3.75559253e-03 4.09198678e-03 -4.61234507e+00] [-3.75271082e-03 9.99992705e-01 -7.11683360e-04 -5.79431988e+00] [-4.09462972e-03 6.96316340e-04 9.99991375e-01 5.40482587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30165253199999 meters 0.18643059023321001 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.54 [[ 9.99985737e-01 3.46774416e-03 4.06197816e-03 -4.61208846e+00] [-3.46279391e-03 9.99993254e-01 -1.22508073e-03 -5.79275234e+00] [-4.06619903e-03 1.21099746e-03 9.99991000e-01 5.40095201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33165253199999 meters 0.19222006840324268 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.79, Z:0.54 [[ 9.99985811e-01 3.14441679e-03 4.30001349e-03 -4.61230826e+00] [-3.13568314e-03 9.99993010e-01 -2.03631092e-03 -5.79024300e+00] [-4.30638644e-03 2.02279854e-03 9.99988682e-01 5.39376675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361652532 meters 0.18180261030621458 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.79, Z:0.54 [[ 9.99973532e-01 4.21399266e-03 5.93109449e-03 -4.61723946e+00] [-4.20193280e-03 9.99989082e-01 -2.04432238e-03 -5.78553170e+00] [-5.93964450e-03 2.01934621e-03 9.99980321e-01 5.41085338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391652532 meters 0.19186648805743042 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99973224e-01 4.05593499e-03 6.09104962e-03 -4.61750737e+00] [-4.04108349e-03 9.99988837e-01 -2.44858053e-03 -5.78411818e+00] [-6.10091291e-03 2.42390053e-03 9.99978452e-01 5.40824230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421652532 meters 0.18950085614913548 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99973694e-01 3.95849848e-03 6.07796883e-03 -4.61733853e+00] [-3.94284086e-03 9.99988883e-01 -2.58595118e-03 -5.78382402e+00] [-6.08813775e-03 2.56191869e-03 9.99978185e-01 5.40604928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451652532 meters 0.18701566814013545 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99973750e-01 3.99004480e-03 6.04796746e-03 -4.61726638e+00] [-3.97510866e-03 9.99989025e-01 -2.47962588e-03 -5.78421758e+00] [-6.05779490e-03 2.45551947e-03 9.99978637e-01 5.40631796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48165253199998 meters 0.18955536541060272 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99970880e-01 3.93888242e-03 6.53641955e-03 -4.61832475e+00] [-3.91951110e-03 9.99987897e-01 -2.97376629e-03 -5.78215377e+00] [-6.54805375e-03 2.94806013e-03 9.99974216e-01 5.40354391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51165253199999 meters 0.1859319215492513 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99971358e-01 3.87079888e-03 6.50383260e-03 -4.61812154e+00] [-3.85128962e-03 9.99988055e-01 -3.00950696e-03 -5.78230635e+00] [-6.51540411e-03 2.98437262e-03 9.99974321e-01 5.40183102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54165253199999 meters 0.19617467170308275 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99970972e-01 3.97135497e-03 6.50252913e-03 -4.61815387e+00] [-3.95317622e-03 9.99988249e-01 -2.80611344e-03 -5.78304618e+00] [-6.51359679e-03 2.78032634e-03 9.99974921e-01 5.40290487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57165253199999 meters 0.18964073339609477 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.78, Z:0.54 [[ 9.99967058e-01 4.50822224e-03 6.74970289e-03 -4.61948412e+00] [-4.49464556e-03 9.99987848e-01 -2.02526849e-03 -5.78455356e+00] [-6.75875123e-03 1.99486425e-03 9.99975170e-01 5.41516163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60165253199999 meters 0.1816653874689303 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.79, Z:0.54 [[ 9.99964631e-01 4.98335311e-03 6.77518606e-03 -4.61981387e+00] [-4.97624137e-03 9.99987050e-01 -1.06612748e-03 -5.78774649e+00] [-6.78041121e-03 1.03237481e-03 9.99976480e-01 5.42103798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63165253199999 meters 0.19102975205229236 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.79, Z:0.54 [[ 9.99966230e-01 5.03908676e-03 6.49196163e-03 -4.61896523e+00] [-5.03515942e-03 9.99987131e-01 -6.21155462e-04 -5.78992115e+00] [-6.49500814e-03 5.88446424e-04 9.99978734e-01 5.41957490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66165253199999 meters 0.18889603642754588 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.79, Z:0.54 [[ 9.99970556e-01 4.86038577e-03 5.93837505e-03 -4.61707704e+00] [-4.85910159e-03 9.99988168e-01 -2.30659423e-04 -5.79303752e+00] [-5.93942588e-03 2.01797464e-04 9.99982341e-01 5.41175964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69165253199999 meters 0.18364997930870866 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.80, Z:0.54 [[ 9.99973767e-01 4.76317381e-03 5.45690570e-03 -4.61547231e+00] [-4.76414598e-03 9.99988638e-01 1.65169058e-04 -5.79582341e+00] [-5.45605697e-03 -1.91162221e-04 9.99985097e-01 5.40596950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721652532 meters 0.18437937406440158 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.80, Z:0.54 [[ 9.99972679e-01 5.01055496e-03 5.43468832e-03 -4.61545706e+00] [-5.01471736e-03 9.99987143e-01 7.52538626e-04 -5.79796670e+00] [-5.43084781e-03 -7.79771492e-04 9.99984949e-01 5.40766707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751652532 meters 0.17561943800035776 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.80, Z:0.54 [[ 9.99984834e-01 1.44706750e-03 5.31399107e-03 -4.61589974e+00] [-1.43801096e-03 9.99997508e-01 -1.70770765e-03 -5.80325083e+00] [-5.31644900e-03 1.70004017e-03 9.99984422e-01 5.42367292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781652532 meters 0.1718328496806244 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.81, Z:0.54 [[ 9.99988257e-01 1.52144068e-03 4.60129759e-03 -4.61406465e+00] [-1.51867539e-03 9.99998664e-01 -6.04413726e-04 -5.80841381e+00] [-4.60221103e-03 5.97418750e-04 9.99989231e-01 5.42487212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811652532 meters 0.16459940135424098 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.82, Z:0.54 [[ 9.99989395e-01 -2.30172597e-03 3.98900171e-03 -4.61281989e+00] [ 2.31299637e-03 9.99993340e-01 -2.82306211e-03 -5.81560810e+00] [-3.98247723e-03 2.83225872e-03 9.99988059e-01 5.43609671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841652532 meters 0.1577154886274662 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.82, Z:0.54 [[ 9.99992213e-01 -2.01376974e-03 3.39395059e-03 -4.61169024e+00] [ 2.01842647e-03 9.99997026e-01 -1.36920199e-03 -5.82086594e+00] [-3.39118324e-03 1.37604177e-03 9.99993303e-01 5.44494274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87165253199998 meters 0.15702859233597505 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.83, Z:0.55 [[ 9.99994322e-01 -1.69307056e-03 2.91376878e-03 -4.61078450e+00] [ 1.69334484e-03 9.99998562e-01 -9.16664512e-05 -5.82552943e+00] [-2.91360939e-03 9.65999460e-05 9.99995751e-01 5.45162843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90165253199999 meters 0.15972333226280308 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.83, Z:0.54 [[ 9.99995618e-01 -1.65035490e-03 2.45777711e-03 -4.60941074e+00] [ 1.64860585e-03 9.99998387e-01 7.13495107e-04 -5.82949812e+00] [-2.45895066e-03 -7.09440075e-04 9.99996725e-01 5.44972095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93165253199999 meters 0.15275312831615281 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.83, Z:0.54 [[ 9.99980495e-01 -5.92521317e-03 1.97503546e-03 -4.60742858e+00] [ 5.93021032e-03 9.99979206e-01 -2.53397702e-03 -5.83483521e+00] [-1.95998003e-03 2.54563997e-03 9.99994839e-01 5.44000735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96165253199999 meters 0.16856736254405283 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.84, Z:0.55 [[ 9.99984203e-01 -5.43138602e-03 1.44670831e-03 -4.60686021e+00] [ 5.43260034e-03 9.99984893e-01 -8.36767925e-04 -5.84015207e+00] [-1.44214164e-03 8.44614095e-04 9.99998603e-01 5.45512322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99165253199999 meters 0.16615491210359054 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.84, Z:0.55 [[ 9.99986546e-01 -5.02419678e-03 1.29062716e-03 -4.60683859e+00] [ 5.02393675e-03 9.99987359e-01 2.04637733e-04 -5.84347489e+00] [-1.29163898e-03 -1.98150951e-04 9.99999146e-01 5.46307672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02165253199999 meters 0.14930594661060698 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.55 [[ 9.99988403e-01 -4.75362465e-03 7.72575190e-04 -4.60589941e+00] [ 4.75243071e-03 9.99987521e-01 1.53995014e-03 -5.84837206e+00] [-7.79885894e-04 -1.53626067e-03 9.99998516e-01 5.47114326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05165253199999 meters 0.1508442183574707 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.85, Z:0.55 [[ 9.99987814e-01 -4.92393862e-03 3.55444997e-04 -4.60411413e+00] [ 4.92328259e-03 9.99986218e-01 1.82353083e-03 -5.85102012e+00] [-3.64419052e-04 -1.82175865e-03 9.99998274e-01 5.45919462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08165253199999 meters 0.1372876217614703 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.85, Z:0.55 [[ 9.99988569e-01 -4.76865329e-03 3.49041592e-04 -4.60399659e+00] [ 4.76786267e-03 9.99986143e-01 2.23192223e-03 -5.85272217e+00] [-3.59680019e-04 -2.23023254e-03 9.99997448e-01 5.45783571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111652532 meters 0.1388443178866776 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99987240e-01 -5.04240786e-03 -3.05193044e-04 -4.60177238e+00] [ 5.04317887e-03 9.99983953e-01 2.58056161e-03 -5.85594103e+00] [ 2.92175903e-04 -2.58206782e-03 9.99996624e-01 5.44898085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141652532 meters 0.1479658226485191 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.55 [[ 9.99988809e-01 -4.70999850e-03 -4.44947527e-04 -4.60166105e+00] [ 4.71147322e-03 9.99983210e-01 3.37358510e-03 -5.85868111e+00] [ 4.29050476e-04 -3.37564371e-03 9.99994210e-01 5.45400000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171652532 meters 0.14897564701783503 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99987753e-01 -4.90916025e-03 -6.28295991e-04 -4.60061806e+00] [ 4.91122490e-03 9.99982402e-01 3.32787884e-03 -5.85968452e+00] [ 6.11947844e-04 -3.33092378e-03 9.99994265e-01 5.44498708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201652532 meters 0.14361798759876906 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99985690e-01 -5.26623544e-03 -9.41235478e-04 -4.59899111e+00] [ 5.26914191e-03 9.99981274e-01 3.11260577e-03 -5.86046258e+00] [ 9.24826137e-04 -3.11752073e-03 9.99994713e-01 5.43063575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23165253199998 meters 0.14604355892603826 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99987241e-01 -4.96763849e-03 -9.16744517e-04 -4.59934251e+00] [ 4.97098753e-03 9.99980845e-01 3.68780262e-03 -5.86215774e+00] [ 8.98407286e-04 -3.69231269e-03 9.99992780e-01 5.43601935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26165253199999 meters 0.14194123952071686 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99988629e-01 -4.66671218e-03 -9.81603898e-04 -4.59948512e+00] [ 4.67094445e-03 9.99979610e-01 4.35441732e-03 -5.86423238e+00] [ 9.61263072e-04 -4.35895282e-03 9.99990038e-01 5.44199534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29165253199999 meters 0.13828918055645803 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99987990e-01 -4.61036829e-03 -1.66274685e-03 -4.59782618e+00] [ 4.61931356e-03 9.99974660e-01 5.41671115e-03 -5.86936424e+00] [ 1.63773168e-03 -5.42432684e-03 9.99983947e-01 5.44475344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32165253199999 meters 0.13787639736786572 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99987643e-01 -4.53488453e-03 -2.03666092e-03 -4.59693517e+00] [ 4.54707363e-03 9.99971538e-01 6.02063233e-03 -5.87200234e+00] [ 2.00930008e-03 -6.02981878e-03 9.99979802e-01 5.44730836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35165253199999 meters 0.13787639736786572 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99987643e-01 -4.53488453e-03 -2.03666092e-03 -4.59693517e+00] [ 4.54707363e-03 9.99971538e-01 6.02063233e-03 -5.87200234e+00] [ 2.00930008e-03 -6.02981878e-03 9.99979802e-01 5.44730836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38165253199999 meters 0.1386426555325612 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99988038e-01 -4.42628312e-03 -2.08137939e-03 -4.59675442e+00] [ 4.43939794e-03 9.99970053e-01 6.33919566e-03 -5.87340377e+00] [ 2.05325799e-03 -6.34835990e-03 9.99977741e-01 5.44686669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41165253199999 meters 0.1364453854820858 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99988526e-01 -4.43049397e-03 -1.82146038e-03 -4.59702210e+00] [ 4.44165154e-03 9.99971114e-01 6.16790405e-03 -5.87329248e+00] [ 1.79408091e-03 -6.17592357e-03 9.99979319e-01 5.43963329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44165253199999 meters 0.13749927320930305 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99987879e-01 -4.56633074e-03 -1.84132607e-03 -4.59651340e+00] [ 4.57743182e-03 9.99971098e-01 6.07039058e-03 -5.87370480e+00] [ 1.81355344e-03 -6.07874554e-03 9.99979880e-01 5.43202516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471652532 meters 0.1360590530614349 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985228e-01 -4.85724777e-03 -2.43947766e-03 -4.59440310e+00] [ 4.87276464e-03 9.99967676e-01 6.39558552e-03 -5.87659803e+00] [ 2.40833387e-03 -6.40737805e-03 9.99976572e-01 5.42403715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501652532 meters 0.13548440349430435 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985398e-01 -4.67592797e-03 -2.70907396e-03 -4.59388484e+00] [ 4.69503620e-03 9.99963840e-01 7.09052575e-03 -5.87928952e+00] [ 2.67582121e-03 -7.10314141e-03 9.99971192e-01 5.42816857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531652532 meters 0.13393304926651148 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99986185e-01 -4.53210423e-03 -2.66251651e-03 -4.59406557e+00] [ 4.55165132e-03 9.99962394e-01 7.38198169e-03 -5.88031842e+00] [ 2.62896047e-03 -7.39399856e-03 9.99969208e-01 5.42959221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561652532 meters 0.14497466786773414 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985903e-01 -4.55855488e-03 -2.72274860e-03 -4.59394659e+00] [ 4.57884094e-03 9.99961456e-01 7.49140860e-03 -5.88068705e+00] [ 2.68849366e-03 -7.50377002e-03 9.99968232e-01 5.43060877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591652532 meters 0.14339112811447172 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985076e-01 -4.71487022e-03 -2.76014185e-03 -4.59351918e+00] [ 4.73485036e-03 9.99962308e-01 7.27759301e-03 -5.88046730e+00] [ 2.72572491e-03 -7.29055326e-03 9.99969709e-01 5.42505623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62165253199998 meters 0.13416346051462244 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985045e-01 -4.82240915e-03 -2.57939684e-03 -4.59373103e+00] [ 4.84019497e-03 9.99964245e-01 6.93412798e-03 -5.87948310e+00] [ 2.54586541e-03 -6.94650906e-03 9.99972632e-01 5.42008557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65165253199999 meters 0.14221986378768536 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99984088e-01 -5.02925508e-03 -2.55540177e-03 -4.59349887e+00] [ 5.04583248e-03 9.99965996e-01 6.52270158e-03 -5.87853954e+00] [ 2.52251055e-03 -6.53549192e-03 9.99975462e-01 5.41468495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68165253199999 meters 0.13066659659661764 Centerline is valid? [False, False] Translation: X:-4.59, Y:-5.88, Z:0.54 [[ 9.99985248e-01 -4.98914894e-03 -2.14751194e-03 -4.59451487e+00] [ 5.00215412e-03 9.99968922e-01 6.09377052e-03 -5.87688556e+00] [ 2.11704247e-03 -6.10442281e-03 9.99979127e-01 5.41280695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71165253199999 meters 0.14715616623672548 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.88, Z:0.54 [[ 9.99987224e-01 -4.77167299e-03 -1.66817814e-03 -4.59601369e+00] [ 4.78151168e-03 9.99970900e-01 5.94448282e-03 -5.87567066e+00] [ 1.63976447e-03 -5.95238329e-03 9.99980940e-01 5.41637002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74165253199999 meters 0.14791158875699176 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99987408e-01 -4.85912256e-03 -1.25410369e-03 -4.59697570e+00] [ 4.86568551e-03 9.99974200e-01 5.28428568e-03 -5.87319760e+00] [ 1.22839435e-03 -5.29032121e-03 9.99985252e-01 5.41361967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77165253199999 meters 0.15261298721273076 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989878e-01 -4.49912678e-03 -3.21150570e-05 -4.60029008e+00] [ 4.49922285e-03 9.99980776e-01 4.26673167e-03 -5.86762505e+00] [ 1.29178728e-05 -4.26683298e-03 9.99990897e-01 5.41624979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80165253199999 meters 0.152399021020941 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990339e-01 -4.38851610e-03 2.50841431e-04 -4.60129707e+00] [ 4.38743326e-03 9.99981699e-01 4.16561479e-03 -5.86663927e+00] [-2.69117708e-04 -4.16447400e-03 9.99991292e-01 5.42048251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83165253199999 meters 0.15318929291256483 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990713e-01 -4.24958046e-03 7.17058122e-04 -4.60259240e+00] [ 4.24677880e-03 9.99983515e-01 3.86446743e-03 -5.86511964e+00] [-7.33468667e-04 -3.86138635e-03 9.99992276e-01 5.42118730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861652532 meters 0.15010312002961637 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.86, Z:0.54 [[ 9.99990266e-01 -4.21281718e-03 1.31123694e-03 -4.60395452e+00] [ 4.20851849e-03 9.99985817e-01 3.26402463e-03 -5.86280679e+00] [-1.32496908e-03 -3.25847449e-03 9.99993813e-01 5.41817894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891652532 meters 0.14731617296804267 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989882e-01 -4.09779641e-03 1.85578537e-03 -4.60564760e+00] [ 4.09246521e-03 9.99987515e-01 2.86749172e-03 -5.86017341e+00] [-1.86751259e-03 -2.85986797e-03 9.99994167e-01 5.42159748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921652532 meters 0.15195405493207106 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988503e-01 -4.34998653e-03 2.01757375e-03 -4.60578043e+00] [ 4.34535782e-03 9.99987930e-01 2.29293267e-03 -5.85837065e+00] [-2.02752362e-03 -2.28413923e-03 9.99995336e-01 5.41645560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951652532 meters 0.15261897008103156 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988615e-01 -4.23872405e-03 2.19139395e-03 -4.60644024e+00] [ 4.23359831e-03 9.99988304e-01 2.33840387e-03 -5.85809850e+00] [-2.20128017e-03 -2.32909977e-03 9.99994865e-01 5.41955799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98165253199998 meters 0.1528323927060871 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99987532e-01 -4.30056745e-03 2.53795970e-03 -4.60717485e+00] [ 4.29598118e-03 9.99989135e-01 1.80976299e-03 -5.85631242e+00] [-2.54571513e-03 -1.79883739e-03 9.99995142e-01 5.41672810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01165253199999 meters 0.15054316465445194 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988197e-01 -4.15118229e-03 2.52476992e-03 -4.60745909e+00] [ 4.14595706e-03 9.99989260e-01 2.07131194e-03 -5.85671949e+00] [-2.53334120e-03 -2.06081990e-03 9.99994668e-01 5.42191650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04165253199999 meters 0.1497066737486264 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99987081e-01 -4.20378828e-03 2.85750514e-03 -4.60813818e+00] [ 4.19921877e-03 9.99989898e-01 1.60324831e-03 -5.85508690e+00] [-2.86421599e-03 -1.59122831e-03 9.99994632e-01 5.41783136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07165253199999 meters 0.15462868818734204 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99985687e-01 -4.27421329e-03 3.21826488e-03 -4.60900567e+00] [ 4.27064710e-03 9.99990260e-01 1.11416534e-03 -5.85313704e+00] [-3.22299572e-03 -1.10040532e-03 9.99994201e-01 5.41659860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10165253199999 meters 0.15026290025054373 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99984400e-01 -4.18472137e-03 3.69974735e-03 -4.61036969e+00] [ 4.18210470e-03 9.99991000e-01 7.14711292e-04 -5.85101955e+00] [-3.70270491e-03 -6.99227411e-04 9.99992901e-01 5.41926489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13165253199999 meters 0.15660299017346838 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99985263e-01 -4.01770725e-03 3.65123442e-03 -4.61055135e+00] [ 4.01369703e-03 9.99991335e-01 1.10498518e-03 -5.85199861e+00] [-3.65564228e-03 -1.09031395e-03 9.99992724e-01 5.42492595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16165253199999 meters 0.15000731440226225 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99986336e-01 -3.74787412e-03 3.64445885e-03 -4.61098456e+00] [ 3.74215323e-03 9.99991757e-01 1.57530429e-03 -5.85306060e+00] [-3.65033285e-03 -1.56164464e-03 9.99992118e-01 5.43259430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19165253199999 meters 0.16020063779732038 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99986486e-01 -3.65168077e-03 3.70045146e-03 -4.61118419e+00] [ 3.64539971e-03 9.99991906e-01 1.70270085e-03 -5.85346469e+00] [-3.70663923e-03 -1.68918821e-03 9.99991704e-01 5.43378686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221652532 meters 0.15338498349773086 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989249e-01 -3.34502005e-03 3.21123101e-03 -4.61059133e+00] [ 3.33558198e-03 9.99990115e-01 2.93995201e-03 -5.85744065e+00] [-3.22103346e-03 -2.92920908e-03 9.99990522e-01 5.44648502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251652532 meters 0.15422919144520106 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988184e-01 -3.53312472e-03 3.33912451e-03 -4.61058955e+00] [ 3.52474228e-03 9.99990631e-01 2.51293021e-03 -5.85631114e+00] [-3.34797172e-03 -2.50113097e-03 9.99991268e-01 5.44067531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281652532 meters 0.14873470496931795 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988253e-01 -3.64540844e-03 3.19464501e-03 -4.60999957e+00] [ 3.63734047e-03 9.99990190e-01 2.52764804e-03 -5.85688496e+00] [-3.20382798e-03 -2.51599833e-03 9.99991703e-01 5.43740577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311652532 meters 0.15234123341918346 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988761e-01 -3.55404208e-03 3.13787781e-03 -4.60987303e+00] [ 3.54547191e-03 9.99989981e-01 2.73255157e-03 -5.85780503e+00] [-3.14755797e-03 -2.72139560e-03 9.99991343e-01 5.43826423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341652532 meters 0.1474750567616065 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989609e-01 -3.78456418e-03 2.54157008e-03 -4.60804091e+00] [ 3.77666511e-03 9.99988046e-01 3.10558921e-03 -5.86057445e+00] [-2.55329300e-03 -3.09595828e-03 9.99991948e-01 5.43475146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37165253199998 meters 0.1474750567616065 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989609e-01 -3.78456418e-03 2.54157008e-03 -4.60804091e+00] [ 3.77666511e-03 9.99988046e-01 3.10558921e-03 -5.86057445e+00] [-2.55329300e-03 -3.09595828e-03 9.99991948e-01 5.43475146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40165253199999 meters 0.14531839756691606 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99988628e-01 -4.04463530e-03 2.52670362e-03 -4.60738374e+00] [ 4.03760842e-03 9.99987985e-01 2.77998254e-03 -5.86040195e+00] [-2.53791728e-03 -2.76974909e-03 9.99992944e-01 5.42485014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43165253199999 meters 0.14753629683571404 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989508e-01 -3.95003519e-03 2.31963307e-03 -4.60689155e+00] [ 3.94254008e-03 9.99987022e-01 3.22689528e-03 -5.86226957e+00] [-2.33234932e-03 -3.21771618e-03 9.99992103e-01 5.42586933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46165253199999 meters 0.13899573774329657 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989671e-01 -4.02909396e-03 2.10328783e-03 -4.60600417e+00] [ 4.02190064e-03 9.99986087e-01 3.41313410e-03 -5.86379828e+00] [-2.11701041e-03 -3.40463964e-03 9.99991963e-01 5.42067797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49165253199999 meters 0.13899573774329657 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99989671e-01 -4.02909396e-03 2.10328783e-03 -4.60600417e+00] [ 4.02190064e-03 9.99986087e-01 3.41313410e-03 -5.86379828e+00] [-2.11701041e-03 -3.40463964e-03 9.99991963e-01 5.42067797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52165253199999 meters 0.1445899061666671 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.87, Z:0.54 [[ 9.99990333e-01 -4.02333058e-03 1.77417470e-03 -4.60515727e+00] [ 4.01644787e-03 9.99984461e-01 3.86603265e-03 -5.86586043e+00] [-1.78970146e-03 -3.85886940e-03 9.99990953e-01 5.42188742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55165253199999 meters 0.1402926418821521 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990629e-01 -4.04046471e-03 1.55460472e-03 -4.60440692e+00] [ 4.03404757e-03 9.99983421e-01 4.10905672e-03 -5.86739600e+00] [-1.57118145e-03 -4.10274686e-03 9.99990349e-01 5.41971242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58165253199999 meters 0.1460187917718724 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99991028e-01 -4.00983375e-03 1.36549982e-03 -4.60378579e+00] [ 4.00375940e-03 9.99982206e-01 4.42249677e-03 -5.86907790e+00] [-1.38320900e-03 -4.41698996e-03 9.99989288e-01 5.41797134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611652532 meters 0.13983771491107597 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990561e-01 -4.03752050e-03 1.60489922e-03 -4.60432782e+00] [ 4.03079659e-03 9.99983178e-01 4.17099776e-03 -5.86807386e+00] [-1.62171271e-03 -4.16448937e-03 9.99990013e-01 5.41599222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641652532 meters 0.13821254390688853 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989962e-01 -4.19232564e-03 1.58105188e-03 -4.60391211e+00] [ 4.18596799e-03 9.99983226e-01 4.00324555e-03 -5.86807597e+00] [-1.59780827e-03 -3.99658713e-03 9.99990737e-01 5.41028786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671652532 meters 0.14012614524025294 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989745e-01 -4.23419968e-03 1.60644627e-03 -4.60389459e+00] [ 4.22783228e-03 9.99983275e-01 3.94655956e-03 -5.86794387e+00] [-1.62312993e-03 -3.93972730e-03 9.99990922e-01 5.40889166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701652532 meters 0.14127197373237077 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989696e-01 -4.20135008e-03 1.71923755e-03 -4.60403558e+00] [ 4.19445853e-03 9.99983232e-01 3.99265188e-03 -5.86838565e+00] [-1.73598325e-03 -3.98539947e-03 9.99990551e-01 5.40666388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73165253199998 meters 0.1375646272777093 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990018e-01 -4.20882091e-03 1.49975298e-03 -4.60339173e+00] [ 4.20238237e-03 9.99982051e-01 4.27066893e-03 -5.86988895e+00] [-1.51770054e-03 -4.26432377e-03 9.99989756e-01 5.40629043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76165253199999 meters 0.15291685899095395 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990029e-01 -4.12624827e-03 1.70750357e-03 -4.60390740e+00] [ 4.11891966e-03 9.99982386e-01 4.27349090e-03 -5.86981330e+00] [-1.72510698e-03 -4.26641522e-03 9.99989411e-01 5.40579173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79165253199999 meters 0.13960334349306724 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989124e-01 -4.25008785e-03 1.92083971e-03 -4.60419530e+00] [ 4.24262208e-03 9.99983495e-01 3.87422493e-03 -5.86860760e+00] [-1.93727380e-03 -3.86603339e-03 9.99990650e-01 5.40079967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82165253199999 meters 0.15177847725144242 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99988211e-01 -4.42794571e-03 1.99283542e-03 -4.60402869e+00] [ 4.42088130e-03 9.99983978e-01 3.53545877e-03 -5.86790351e+00] [-2.00845831e-03 -3.52660700e-03 9.99991765e-01 5.39478675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85165253199999 meters 0.14184103094341824 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989911e-01 -4.08634424e-03 1.86517533e-03 -4.60428479e+00] [ 4.07821212e-03 9.99982252e-01 4.34315443e-03 -5.87026887e+00] [-1.88288985e-03 -4.33550404e-03 9.99988829e-01 5.40592422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88165253199999 meters 0.1328690508553993 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990741e-01 -3.92877205e-03 1.75589840e-03 -4.60423306e+00] [ 3.92040842e-03 9.99981074e-01 4.74149229e-03 -5.87158134e+00] [-1.77449341e-03 -4.73456455e-03 9.99987217e-01 5.41055341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91165253199999 meters 0.13675024751433545 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990496e-01 -3.90992925e-03 1.92895576e-03 -4.60462951e+00] [ 3.90105497e-03 9.99981888e-01 4.58307353e-03 -5.87108706e+00] [-1.94684031e-03 -4.57550501e-03 9.99987637e-01 5.40941023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94165253199999 meters 0.13956196912424562 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989866e-01 -4.07717274e-03 1.90882079e-03 -4.60430805e+00] [ 4.06876357e-03 9.99982092e-01 4.38877554e-03 -5.87092432e+00] [-1.92668040e-03 -4.38096453e-03 9.99988547e-01 5.40546488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971652532 meters 0.14672385942161276 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989604e-01 -4.17596253e-03 1.83134507e-03 -4.60413374e+00] [ 4.16817659e-03 9.99982346e-01 4.23489182e-03 -5.87032893e+00] [-1.84899749e-03 -4.22721443e-03 9.99989356e-01 5.40523099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001652532 meters 0.14481137688761178 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.87, Z:0.54 [[ 9.99988824e-01 -4.11053533e-03 2.33570080e-03 -4.60547619e+00] [ 4.10155547e-03 9.99984229e-01 3.83648177e-03 -5.86831313e+00] [-2.35143396e-03 -3.82685888e-03 9.99989913e-01 5.40491772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031652532 meters 0.13698227763030793 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.87, Z:0.54 [[ 9.99964292e-01 -8.17526300e-03 2.14023860e-03 -4.60544327e+00] [ 8.17465947e-03 9.99966545e-01 2.90591409e-04 -5.87044267e+00] [-2.14254266e-03 -2.73085311e-04 9.99997667e-01 5.41518111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061652532 meters 0.13983621985352782 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99990263e-01 -4.17791035e-03 1.42068275e-03 -4.60337973e+00] [ 4.17115703e-03 9.99980144e-01 4.72376315e-03 -5.87248906e+00] [-1.44039000e-03 -4.71779127e-03 9.99987834e-01 5.41036363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091652532 meters 0.13923829009239902 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99989264e-01 -4.29841521e-03 1.73061623e-03 -4.60395918e+00] [ 4.29121311e-03 9.99982206e-01 4.14400662e-03 -5.87044220e+00] [-1.74839810e-03 -4.13653569e-03 9.99989916e-01 5.40541415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12165253199998 meters 0.13498162345423095 Centerline is valid? [False, False] Translation: X:-4.60, Y:-5.87, Z:0.54 [[ 9.99988815e-01 -4.26132553e-03 2.05221218e-03 -4.60494006e+00] [ 4.25335315e-03 9.99983452e-01 3.87359595e-03 -5.86884293e+00] [-2.06868487e-03 -3.86482384e-03 9.99990392e-01 5.40714086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15165253199999 meters 0.14240024675305535 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99986404e-01 -4.26809757e-03 2.99589039e-03 -4.60712485e+00] [ 4.26014481e-03 9.99987399e-01 2.65593474e-03 -5.86278168e+00] [-3.00718843e-03 -2.64313570e-03 9.99991985e-01 5.40342828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18165253199999 meters 0.14237817056343874 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99984913e-01 -4.25246541e-03 3.47707904e-03 -4.60836679e+00] [ 4.24511157e-03 9.99988743e-01 2.11960017e-03 -5.86040982e+00] [-3.48605342e-03 -2.10480761e-03 9.99991709e-01 5.40367059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21165253199999 meters 0.15440682552417595 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99984694e-01 -4.16502605e-03 3.64192555e-03 -4.60892986e+00] [ 4.15723136e-03 9.99989058e-01 2.14522283e-03 -5.86029001e+00] [-3.65082061e-03 -2.13004967e-03 9.99991067e-01 5.40651552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24165253199999 meters 0.14232896589625743 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99986065e-01 -3.86624273e-03 3.59478039e-03 -4.60937699e+00] [ 3.85658939e-03 9.99988949e-01 2.68844236e-03 -5.86139065e+00] [-3.60513484e-03 -2.67454131e-03 9.99989925e-01 5.41633109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27165253199999 meters 0.14232896589625743 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99986065e-01 -3.86624273e-03 3.59478039e-03 -4.60937699e+00] [ 3.85658939e-03 9.99988949e-01 2.68844236e-03 -5.86139065e+00] [-3.60513484e-03 -2.67454131e-03 9.99989925e-01 5.41633109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30165253199999 meters 0.14077672056934873 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99985118e-01 -3.75348689e-03 3.95916605e-03 -4.61043655e+00] [ 3.74373062e-03 9.99989945e-01 2.46876484e-03 -5.86017021e+00] [-3.96839271e-03 -2.45390604e-03 9.99989115e-01 5.41817141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33165253199999 meters 0.15625574868982825 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99984839e-01 -3.74199352e-03 4.03961735e-03 -4.61073571e+00] [ 3.73221983e-03 9.99990097e-01 2.42429229e-03 -5.85980261e+00] [-4.04864903e-03 -2.40917879e-03 9.99988902e-01 5.41949222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361652532 meters 0.1446390375965867 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99985492e-01 -3.79036331e-03 3.82730459e-03 -4.61023076e+00] [ 3.78057229e-03 9.99989571e-01 2.56220497e-03 -5.86043441e+00] [-3.83697636e-03 -2.54769840e-03 9.99989393e-01 5.42042992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391652532 meters 0.15539102077459405 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983860e-01 -3.68283529e-03 4.32615027e-03 -4.61173575e+00] [ 3.67317667e-03 9.99990749e-01 2.23844143e-03 -5.85799283e+00] [-4.33435405e-03 -2.22251459e-03 9.99988137e-01 5.42327991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421652532 meters 0.1551218033693391 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983149e-01 -3.63362626e-03 4.52757600e-03 -4.61245121e+00] [ 3.62404271e-03 9.99991179e-01 2.12311662e-03 -5.85693881e+00] [-4.53525067e-03 -2.10667272e-03 9.99987497e-01 5.42584172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451652532 meters 0.13549249794744048 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99981994e-01 -3.76690963e-03 4.67150848e-03 -4.61267822e+00] [ 3.75875016e-03 9.99991397e-01 1.75419733e-03 -5.85567608e+00] [-4.67807620e-03 -1.73660671e-03 9.99987550e-01 5.42312577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48165253199998 meters 0.15519530562471767 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983509e-01 -3.72035057e-03 4.37489866e-03 -4.61207333e+00] [ 3.71084646e-03 9.99990742e-01 2.17853247e-03 -5.85740531e+00] [-4.38296306e-03 -2.16226197e-03 9.99988057e-01 5.42669131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51165253199999 meters 0.14898113948304698 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99985575e-01 -3.21720391e-03 4.30102384e-03 -4.61281052e+00] [ 3.20389147e-03 9.99990067e-01 3.09849463e-03 -5.85938493e+00] [-4.31094961e-03 -3.08466992e-03 9.99985950e-01 5.44309271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54165253199999 meters 0.15017354205538386 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983383e-01 -3.37868625e-03 4.67101245e-03 -4.61347157e+00] [ 3.36729590e-03 9.99991343e-01 2.44423591e-03 -5.85699722e+00] [-4.67923032e-03 -2.42846661e-03 9.99986104e-01 5.43780309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57165253199999 meters 0.14693086608432926 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99980400e-01 -3.59088802e-03 5.12893137e-03 -4.61424517e+00] [ 3.58231038e-03 9.99992171e-01 1.68061000e-03 -5.85419321e+00] [-5.13492609e-03 -1.66220363e-03 9.99985435e-01 5.43114798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60165253199999 meters 0.15336934209102876 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.85, Z:0.54 [[ 9.99980613e-01 -3.53858017e-03 5.12362398e-03 -4.61435195e+00] [ 3.52941531e-03 9.99992158e-01 1.79668324e-03 -5.85442559e+00] [-5.12994151e-03 -1.77856501e-03 9.99985260e-01 5.43310661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63165253199999 meters 0.1502313033995935 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99982694e-01 -3.52606707e-03 4.70940117e-03 -4.61341707e+00] [ 3.51529906e-03 9.99991193e-01 2.29281652e-03 -5.85671500e+00] [-4.71744432e-03 -2.27622189e-03 9.99986282e-01 5.43663600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66165253199999 meters 0.14872533328258958 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983640e-01 -3.04926526e-03 4.83959852e-03 -4.61443697e+00] [ 3.03454360e-03 9.99990756e-01 3.04635111e-03 -5.85825317e+00] [-4.84884291e-03 -3.03161530e-03 9.99983649e-01 5.44876765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69165253199999 meters 0.15434851328369242 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99983204e-01 -3.15956924e-03 4.85890509e-03 -4.61424511e+00] [ 3.14559375e-03 9.99990902e-01 2.88122072e-03 -5.85810085e+00] [-4.86796430e-03 -2.86588818e-03 9.99984045e-01 5.44492166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721652532 meters 0.14254585618422666 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99984429e-01 -3.11272665e-03 4.63179851e-03 -4.61385867e+00] [ 3.09729622e-03 9.99989643e-01 3.33486420e-03 -5.85951141e+00] [-4.64213106e-03 -3.32046622e-03 9.99983712e-01 5.44897163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751652532 meters 0.14193881848631865 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.55 [[ 9.99984640e-01 -3.08238536e-03 4.60632288e-03 -4.61397875e+00] [ 3.06656902e-03 9.99989392e-01 3.43674342e-03 -5.85946326e+00] [-4.61686738e-03 -3.42256502e-03 9.99983485e-01 5.45168424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781652532 meters 0.14313247920203445 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99982808e-01 -3.30326855e-03 4.84473918e-03 -4.61430129e+00] [ 3.28942617e-03 9.99990493e-01 2.86238902e-03 -5.85760950e+00] [-4.85414836e-03 -2.84640340e-03 9.99984167e-01 5.44633516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811652532 meters 0.14407637260828624 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99980644e-01 -3.42811987e-03 5.19221258e-03 -4.61495494e+00] [ 3.41617370e-03 9.99991502e-01 2.30791142e-03 -5.85567326e+00] [-5.20008025e-03 -2.29012925e-03 9.99983857e-01 5.44221329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841652532 meters 0.13952354851023202 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.54 [[ 9.99981904e-01 -3.37321251e-03 4.98132282e-03 -4.61448790e+00] [ 3.35968587e-03 9.99990653e-01 2.72134716e-03 -5.85735735e+00] [-4.99045594e-03 -2.70456224e-03 9.99983890e-01 5.44455751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87165253199998 meters 0.14187470304210772 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.86, Z:0.55 [[ 9.99982512e-01 -3.21332125e-03 4.96483580e-03 -4.61476647e+00] [ 3.19827189e-03 9.99990276e-01 3.03616144e-03 -5.85802757e+00] [-4.97454369e-03 -3.02022945e-03 9.99983066e-01 5.45029313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90165253199999 meters 0.14558463544056016 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99981480e-01 -3.11792157e-03 5.22668050e-03 -4.61559720e+00] [ 3.10243637e-03 9.99990782e-01 2.96821542e-03 -5.85738768e+00] [-5.23588698e-03 -2.95194500e-03 9.99981936e-01 5.45311077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93165253199999 meters 0.15774857613228122 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99981216e-01 -2.84993489e-03 5.42639180e-03 -4.61656761e+00] [ 2.83207943e-03 9.99990560e-01 3.29533090e-03 -5.85765612e+00] [-5.43573205e-03 -3.27990102e-03 9.99979847e-01 5.46111354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96165253199999 meters 0.14482157472689502 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99980619e-01 -3.01360283e-03 5.44784143e-03 -4.61633264e+00] [ 2.99716381e-03 9.99990939e-01 3.02317841e-03 -5.85715893e+00] [-5.45690273e-03 -3.00679175e-03 9.99980591e-01 5.45619038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99165253199999 meters 0.13969764804372992 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99980226e-01 -2.80695112e-03 5.62741711e-03 -4.61712650e+00] [ 2.78863148e-03 9.99990796e-01 3.26063227e-03 -5.85730301e+00] [-5.63651775e-03 -3.24487500e-03 9.99978850e-01 5.46173477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02165253199999 meters 0.13837405022423446 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99979712e-01 -2.84602236e-03 5.69867349e-03 -4.61729276e+00] [ 2.82812308e-03 9.99991050e-01 3.14655384e-03 -5.85687478e+00] [-5.70757766e-03 -3.13037346e-03 9.99978812e-01 5.46126531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05165253199999 meters 0.14367094196701594 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99978124e-01 -2.93103369e-03 5.92971084e-03 -4.61774765e+00] [ 2.91434245e-03 9.99991773e-01 2.82153377e-03 -5.85566594e+00] [-5.93793207e-03 -2.80419084e-03 9.99978439e-01 5.45870939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08165253199999 meters 0.14859814373345795 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99978283e-01 -2.80413095e-03 5.96405542e-03 -4.61803585e+00] [ 2.78602891e-03 9.99991494e-01 3.04133512e-03 -5.85607775e+00] [-5.97253299e-03 -3.02465304e-03 9.99977590e-01 5.46208806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111652532 meters 0.14270057330660862 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99977363e-01 -3.02539577e-03 6.01009479e-03 -4.61774360e+00] [ 3.00956243e-03 9.99991982e-01 2.64175736e-03 -5.85532960e+00] [-6.01803896e-03 -2.62360980e-03 9.99978450e-01 5.45514283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141652532 meters 0.14321318950018416 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.54 [[ 9.99974152e-01 -3.38227101e-03 6.34471736e-03 -4.61805184e+00] [ 3.37166037e-03 9.99992901e-01 1.68230919e-03 -5.85238346e+00] [-6.35036234e-03 -1.66087347e-03 9.99978457e-01 5.44494087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171652532 meters 0.14765799634035043 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99973664e-01 -3.10741227e-03 6.55866866e-03 -4.61909253e+00] [ 3.09439629e-03 9.99993225e-01 1.99376115e-03 -5.85256691e+00] [-6.56481967e-03 -1.97341352e-03 9.99976504e-01 5.45337166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201652532 meters 0.14691959660542503 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99973680e-01 -2.91023892e-03 6.64597617e-03 -4.61967923e+00] [ 2.89524923e-03 9.99993246e-01 2.26396189e-03 -5.85289521e+00] [-6.65251996e-03 -2.24466054e-03 9.99975352e-01 5.45995724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23165253199998 meters 0.1480503350578187 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99972805e-01 -2.74691596e-03 6.84426369e-03 -4.62040042e+00] [ 2.73049378e-03 9.99993374e-01 2.40759865e-03 -5.85293948e+00] [-6.85083181e-03 -2.38884495e-03 9.99973679e-01 5.46385264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26165253199999 meters 0.15309378359393402 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99970628e-01 -2.49771634e-03 7.24594399e-03 -4.62193983e+00] [ 2.48006363e-03 9.99993938e-01 2.44418230e-03 -5.85180427e+00] [-7.25200493e-03 -2.42614011e-03 9.99970761e-01 5.47220299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29165253199999 meters 0.14775621559445243 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99968960e-01 -2.32720032e-03 7.52747644e-03 -4.62304559e+00] [ 2.30830329e-03 9.99994165e-01 2.51812112e-03 -5.85120869e+00] [-7.53329269e-03 -2.50066726e-03 9.99968498e-01 5.47874363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32165253199999 meters 0.15513059813101998 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99968625e-01 -2.22636910e-03 7.60214709e-03 -4.62345945e+00] [ 2.20616259e-03 9.99994014e-01 2.66535328e-03 -5.85139261e+00] [-7.60803565e-03 -2.64849809e-03 9.99967551e-01 5.48296009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35165253199999 meters 0.15219372820685573 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99968567e-01 -2.18670034e-03 7.62119730e-03 -4.62345835e+00] [ 2.16548768e-03 9.99993762e-01 2.79051805e-03 -5.85195698e+00] [-7.62725178e-03 -2.77392673e-03 9.99967065e-01 5.48281475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38165253199999 meters 0.15889968174802907 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99970253e-01 -2.11064944e-03 7.41879961e-03 -4.62313582e+00] [ 2.08682474e-03 9.99992646e-01 3.21767044e-03 -5.85356144e+00] [-7.42553642e-03 -3.20209299e-03 9.99967303e-01 5.48758987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41165253199999 meters 0.1481671211668015 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99971338e-01 -2.07035873e-03 7.28263486e-03 -4.62290781e+00] [ 2.04507138e-03 9.99991861e-01 3.47801513e-03 -5.85447227e+00] [-7.28977632e-03 -3.46302193e-03 9.99967433e-01 5.49030007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44165253199999 meters 0.15754568237272226 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.86, Z:0.55 [[ 9.99971894e-01 -2.05213681e-03 7.21108216e-03 -4.62274724e+00] [ 2.02596467e-03 9.99991342e-01 3.63486582e-03 -5.85517587e+00] [-7.21847897e-03 -3.62015426e-03 9.99967393e-01 5.49153587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471652532 meters 0.1499781335305472 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99970196e-01 -2.16765545e-03 7.41007768e-03 -4.62308620e+00] [ 2.14363444e-03 9.99992427e-01 3.24807476e-03 -5.85370878e+00] [-7.41706227e-03 -3.23209345e-03 9.99967270e-01 5.48855871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501652532 meters 0.1521135959383595 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99968574e-01 -2.43526286e-03 7.54462637e-03 -4.62304230e+00] [ 2.41503919e-03 9.99993470e-01 2.68849184e-03 -5.85220154e+00] [-7.55112428e-03 -2.67018678e-03 9.99967925e-01 5.48181382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531652532 meters 0.14755267758721977 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99967443e-01 -2.63573026e-03 7.62666096e-03 -4.62297721e+00] [ 2.61846972e-03 9.99993990e-01 2.27228573e-03 -5.85103938e+00] [-7.63260426e-03 -2.25224157e-03 9.99968335e-01 5.47714231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561652532 meters 0.15680164461759863 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99965183e-01 -2.64142684e-03 7.91554271e-03 -4.62368372e+00] [ 2.62601604e-03 9.99994638e-01 1.95666480e-03 -5.84970228e+00] [-7.92066865e-03 -1.93581033e-03 9.99966757e-01 5.47631505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591652532 meters 0.1544850915636188 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99965369e-01 -2.73705649e-03 7.85939222e-03 -4.62350954e+00] [ 2.72248711e-03 9.99994557e-01 1.86385544e-03 -5.84970698e+00] [-7.86445092e-03 -1.84239380e-03 9.99967377e-01 5.47641128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62165253199998 meters 0.15814411117032054 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99965530e-01 -2.67043552e-03 7.86175655e-03 -4.62362064e+00] [ 2.65493046e-03 9.99994512e-01 1.98198926e-03 -5.85007833e+00] [-7.86700617e-03 -1.96104853e-03 9.99967132e-01 5.47879979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65165253199999 meters 0.15467715596296971 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99963966e-01 -2.64370261e-03 8.06704772e-03 -4.62410637e+00] [ 2.62906191e-03 9.99994879e-01 1.82494165e-03 -5.84948140e+00] [-8.07183101e-03 -1.80366712e-03 9.99965796e-01 5.47845901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68165253199999 meters 0.1557799899881127 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99961350e-01 -2.62876057e-03 8.38975716e-03 -4.62490735e+00] [ 2.61634049e-03 9.99995466e-01 1.49101807e-03 -5.84810656e+00] [-8.39363865e-03 -1.46900999e-03 9.99963694e-01 5.47823069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71165253199999 meters 0.1816459886007801 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99958968e-01 -2.44886835e-03 8.72155528e-03 -4.62622645e+00] [ 2.43605196e-03 9.99995938e-01 1.47982730e-03 -5.84691860e+00] [-8.72514376e-03 -1.45852042e-03 9.99960872e-01 5.48599668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74165253199999 meters 0.17944016081641198 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99957844e-01 -2.51393202e-03 8.83119251e-03 -4.62637365e+00] [ 2.50249847e-03 9.99996017e-01 1.30548978e-03 -5.84646429e+00] [-8.83443925e-03 -1.28333470e-03 9.99960152e-01 5.48389515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77165253199999 meters 0.1769453658368058 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959459e-01 -2.49174193e-03 8.65289360e-03 -4.62593874e+00] [ 2.47776333e-03 9.99995609e-01 1.62582717e-03 -5.84806804e+00] [-8.65690674e-03 -1.60432143e-03 9.99961241e-01 5.48546926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80165253199999 meters 0.17368435136393445 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99962814e-01 -2.52622524e-03 8.24551691e-03 -4.62492933e+00] [ 2.50930361e-03 9.99994726e-01 2.06192231e-03 -5.85009371e+00] [-8.25068230e-03 -2.04115513e-03 9.99963879e-01 5.48653212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83165253199999 meters 0.1734403601825614 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99963978e-01 -2.42603189e-03 8.13370350e-03 -4.62474608e+00] [ 2.40687143e-03 9.99994308e-01 2.36464887e-03 -5.85114638e+00] [-8.13939392e-03 -2.34498691e-03 9.99964125e-01 5.48879963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861652532 meters 0.1723610589270928 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.85, Z:0.55 [[ 9.99962315e-01 -2.57910523e-03 8.28959425e-03 -4.62485480e+00] [ 2.56290008e-03 9.99994785e-01 1.96490794e-03 -5.85002938e+00] [-8.29461873e-03 -1.94358849e-03 9.99963710e-01 5.48381547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891652532 meters 0.17185812364198896 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959713e-01 -2.83470828e-03 8.51684076e-03 -4.62530076e+00] [ 2.82343201e-03 9.99995122e-01 1.33572893e-03 -5.84743081e+00] [-8.52058562e-03 -1.31162840e-03 9.99962839e-01 5.48133595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921652532 meters 0.17133654379210467 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959283e-01 -2.86128189e-03 8.55833299e-03 -4.62555604e+00] [ 2.85089753e-03 9.99995185e-01 1.22531631e-03 -5.84677053e+00] [-8.56179776e-03 -1.20086749e-03 9.99962626e-01 5.48369674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951652532 meters 0.16994390032573384 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959404e-01 -2.68762033e-03 8.60037198e-03 -4.62606435e+00] [ 2.67489786e-03 9.99995312e-01 1.49045448e-03 -5.84716608e+00] [-8.60433743e-03 -1.46738886e-03 9.99961905e-01 5.49067465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98165253199998 meters 0.1704621821882407 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959914e-01 -2.50381038e-03 8.59654452e-03 -4.62632455e+00] [ 2.48826995e-03 9.99995252e-01 1.81797229e-03 -5.84809209e+00] [-8.60105556e-03 -1.79650889e-03 9.99961396e-01 5.49573442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01165253199999 meters 0.16687343072746896 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959978e-01 -2.56316529e-03 8.57156030e-03 -4.62602245e+00] [ 2.54870745e-03 9.99995312e-01 1.69722034e-03 -5.84827221e+00] [-8.57587037e-03 -1.67530602e-03 9.99961823e-01 5.49201353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04165253199999 meters 0.17500541426931626 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99958161e-01 -2.71563697e-03 8.73512106e-03 -4.62622701e+00] [ 2.70471026e-03 9.99995545e-01 1.26246465e-03 -5.84685382e+00] [-8.73851055e-03 -1.23878585e-03 9.99961051e-01 5.48799411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07165253199999 meters 0.16726660842470178 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99957513e-01 -2.89135459e-03 8.75280067e-03 -4.62606696e+00] [ 2.88292646e-03 9.99995369e-01 9.75371381e-04 -5.84614399e+00] [-8.75558028e-03 -9.50096260e-04 9.99961218e-01 5.48462830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10165253199999 meters 0.1663605345941599 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99957659e-01 -2.98084279e-03 8.70600378e-03 -4.62593299e+00] [ 2.97332815e-03 9.99995196e-01 8.75972106e-04 -5.84584424e+00] [-8.70857310e-03 -8.50049211e-04 9.99961718e-01 5.48454540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13165253199999 meters 0.16399021046091006 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960113e-01 -2.61085938e-03 8.54146849e-03 -4.62621441e+00] [ 2.59693872e-03 9.99995282e-01 1.64045948e-03 -5.84795819e+00] [-8.54571120e-03 -1.61821238e-03 9.99962175e-01 5.49686237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16165253199999 meters 0.16399021046091006 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960113e-01 -2.61085938e-03 8.54146849e-03 -4.62621441e+00] [ 2.59693872e-03 9.99995282e-01 1.64045948e-03 -5.84795819e+00] [-8.54571120e-03 -1.61821238e-03 9.99962175e-01 5.49686237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19165253199999 meters 0.17676482519818684 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960397e-01 -2.52144934e-03 8.53499351e-03 -4.62629193e+00] [ 2.50610245e-03 9.99995225e-01 1.80833108e-03 -5.84854526e+00] [-8.53951236e-03 -1.78686989e-03 9.99961941e-01 5.49879061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221652532 meters 0.16856350710226634 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959834e-01 -2.45815371e-03 8.61898497e-03 -4.62662885e+00] [ 2.44222109e-03 9.99995291e-01 1.85858685e-03 -5.84855371e+00] [-8.62351307e-03 -1.83746273e-03 9.99961129e-01 5.50101758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251652532 meters 0.16701689146298962 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960978e-01 -2.31352319e-03 8.52589352e-03 -4.62682458e+00] [ 2.29484104e-03 9.99994946e-01 2.20035711e-03 -5.84925602e+00] [-8.53094100e-03 -2.18070568e-03 9.99961233e-01 5.50850613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281652532 meters 0.16358438460111505 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99961875e-01 -2.38904366e-03 8.39882667e-03 -4.62652249e+00] [ 2.37089432e-03 9.99994834e-01 2.17023014e-03 -5.84933485e+00] [-8.40396806e-03 -2.15023467e-03 9.99962374e-01 5.50909423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311652532 meters 0.1639683392298071 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99963575e-01 -2.04254623e-03 8.28715476e-03 -4.62686140e+00] [ 2.01844597e-03 9.99993713e-01 2.91546817e-03 -5.85116035e+00] [-8.29305764e-03 -2.89863480e-03 9.99961411e-01 5.52011981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341652532 meters 0.15542353861943187 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99964510e-01 -2.09446037e-03 8.16041806e-03 -4.62648806e+00] [ 2.07042720e-03 9.99993498e-01 2.95242510e-03 -5.85155322e+00] [-8.16654874e-03 -2.93542477e-03 9.99962345e-01 5.51959822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37165253199998 meters 0.16503708214007848 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99961418e-01 -2.37014148e-03 8.45841604e-03 -4.62687229e+00] [ 2.35171473e-03 9.99994841e-01 2.18779161e-03 -5.84889800e+00] [-8.46355778e-03 -2.16781542e-03 9.99961834e-01 5.51311677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40165253199999 meters 0.1652711515003127 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959895e-01 -2.62807771e-03 8.56161601e-03 -4.62685440e+00] [ 2.61396859e-03 9.99995208e-01 1.65872405e-03 -5.84728789e+00] [-8.56593424e-03 -1.63627774e-03 9.99961973e-01 5.50782826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43165253199999 meters 0.17635594654788975 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960054e-01 -2.72222939e-03 8.51346408e-03 -4.62662812e+00] [ 2.70897778e-03 9.99995102e-01 1.56769191e-03 -5.84714556e+00] [-8.51768999e-03 -1.54456651e-03 9.99962531e-01 5.50605248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46165253199999 meters 0.1749943687646716 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960210e-01 -2.76819898e-03 8.48026278e-03 -4.62676434e+00] [ 2.75547972e-03 9.99995062e-01 1.51118347e-03 -5.84655202e+00] [-8.48440416e-03 -1.48775615e-03 9.99962900e-01 5.50936365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49165253199999 meters 0.17522313793691963 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959433e-01 -2.75512228e-03 8.57567501e-03 -4.62700901e+00] [ 2.74245011e-03 9.99995131e-01 1.48909655e-03 -5.84647264e+00] [-8.57973589e-03 -1.46551778e-03 9.99962119e-01 5.50976273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52165253199999 meters 0.1600700514348894 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99960274e-01 -2.56318079e-03 8.53698060e-03 -4.62715443e+00] [ 2.54695374e-03 9.99994930e-01 1.91112505e-03 -5.84774256e+00] [-8.54183588e-03 -1.88930583e-03 9.99961733e-01 5.51464963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55165253199999 meters 0.16560446391692832 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99959096e-01 -2.56732704e-03 8.67268391e-03 -4.62757557e+00] [ 2.55193690e-03 9.99995150e-01 1.78515388e-03 -5.84704903e+00] [-8.67722493e-03 -1.76294872e-03 9.99960798e-01 5.51558959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58165253199999 meters 0.16815428245337846 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99957621e-01 -2.81009682e-03 8.76700794e-03 -4.62753021e+00] [ 2.79877565e-03 9.99995234e-01 1.30333849e-03 -5.84568850e+00] [-8.77062866e-03 -1.27874637e-03 9.99960720e-01 5.51017509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611652532 meters 0.16811911320739462 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99956030e-01 -2.83046532e-03 8.94012513e-03 -4.62817794e+00] [ 2.82056902e-03 9.99995396e-01 1.11936792e-03 -5.84443491e+00] [-8.94325229e-03 -1.09410246e-03 9.99959410e-01 5.51271373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641652532 meters 0.16712191208177596 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99953702e-01 -2.73846775e-03 9.22471123e-03 -4.62928552e+00] [ 2.72958941e-03 9.99995799e-01 9.74904112e-04 -5.84299580e+00] [-9.22734222e-03 -9.49679301e-04 9.99956976e-01 5.51856176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671652532 meters 0.1684364820265603 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99950157e-01 -2.82246544e-03 9.57693269e-03 -4.63004748e+00] [ 2.81797038e-03 9.99995913e-01 4.82824424e-04 -5.84116157e+00] [-9.57825631e-03 -4.55812846e-04 9.99954024e-01 5.51652865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701652532 meters 0.1678130714703785 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99950048e-01 -2.53609771e-03 9.66798175e-03 -4.63089416e+00] [ 2.52712707e-03 9.99996365e-01 9.39974591e-04 -5.84185964e+00] [-9.67033047e-03 -9.15495419e-04 9.99952822e-01 5.52732613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73165253199998 meters 0.16854887954184783 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99948187e-01 -2.31835142e-03 9.91199208e-03 -4.63194250e+00] [ 2.30806723e-03 9.99996786e-01 1.04886351e-03 -5.84148669e+00] [-9.91439186e-03 -1.02593162e-03 9.99950325e-01 5.53480301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76165253199999 meters 0.163722730914646 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99948693e-01 -2.24970876e-03 9.87672364e-03 -4.63219549e+00] [ 2.23816930e-03 9.99996800e-01 1.17924618e-03 -5.84143286e+00] [-9.87934499e-03 -1.15707990e-03 9.99950529e-01 5.54010043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79165253199999 meters 0.17383218319801122 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99946987e-01 -2.40180727e-03 1.00126889e-02 -4.63248319e+00] [ 2.39448906e-03 9.99996857e-01 7.42817421e-04 -5.83985173e+00] [-1.00144415e-02 -7.18802768e-04 9.99949596e-01 5.53831593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82165253199999 meters 0.16488711420615348 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99940806e-01 -2.34136635e-03 1.06255510e-02 -4.63391914e+00] [ 2.33895993e-03 9.99997236e-01 2.38896096e-04 -5.83722650e+00] [-1.06260810e-02 -2.14029217e-04 9.99943519e-01 5.53639011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85165253199999 meters 0.18326353478221633 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99939056e-01 -2.50071039e-03 1.07531526e-02 -4.63392322e+00] [ 2.50174830e-03 9.99996867e-01 -8.30711601e-05 -5.83648713e+00] [-1.07529111e-02 1.09967779e-04 9.99942180e-01 5.53096995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88165253199999 meters 0.15915085020253741 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99940710e-01 -2.43682737e-03 1.06130901e-02 -4.63379293e+00] [ 2.43522389e-03 9.99997021e-01 1.64004741e-04 -5.83702413e+00] [-1.06134581e-02 -1.38149767e-04 9.99943666e-01 5.53441350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91165253199999 meters 0.1565851601569414 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99941734e-01 -2.39158144e-03 1.05265748e-02 -4.63378261e+00] [ 2.38816775e-03 9.99997092e-01 3.36851173e-04 -5.83740014e+00] [-1.05273497e-02 -3.11692320e-04 9.99944537e-01 5.53811126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94165253199999 meters 0.1625447716891927 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99941917e-01 -2.29606151e-03 1.05305068e-02 -4.63409335e+00] [ 2.29087791e-03 9.99997249e-01 5.04282184e-04 -5.83751023e+00] [-1.05316357e-02 -4.80128788e-04 9.99944426e-01 5.54337316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971652532 meters 0.16221222241082328 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99944037e-01 -2.09924188e-03 1.03689686e-02 -4.63413339e+00] [ 2.08824079e-03 9.99997245e-01 1.07167634e-03 -5.83903410e+00] [-1.03711898e-02 -1.04996346e-03 9.99945667e-01 5.55197774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001652532 meters 0.17445246523988872 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99945118e-01 -1.90633074e-03 1.03018280e-02 -4.63426025e+00] [ 1.89114403e-03 9.99997111e-01 1.48371642e-03 -5.84003098e+00] [-1.03046267e-02 -1.46415275e-03 9.99945834e-01 5.55729413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031652532 meters 0.1686344314281392 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99943696e-01 -1.90735557e-03 1.04387419e-02 -4.63457400e+00] [ 1.89325400e-03 9.99997282e-01 1.36060291e-03 -5.83950020e+00] [-1.04413087e-02 -1.34076312e-03 9.99944589e-01 5.55675543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061652532 meters 0.16931525652046814 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99941269e-01 -2.02178908e-03 1.06475489e-02 -4.63490368e+00] [ 2.01118534e-03 9.99997471e-01 1.00649878e-03 -5.83838241e+00] [-1.06495569e-02 -9.85025475e-04 9.99942807e-01 5.55356108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091652532 meters 0.1620067928605507 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99942069e-01 -1.59864703e-03 1.06443432e-02 -4.63563385e+00] [ 1.57892590e-03 9.99997022e-01 1.86087916e-03 -5.84019889e+00] [-1.06472864e-02 -1.84396473e-03 9.99941616e-01 5.56720152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12165253199998 meters 0.19695726249188453 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99944374e-01 -1.39118748e-03 1.04553167e-02 -4.63524562e+00] [ 1.36501534e-03 9.99995918e-01 2.50995671e-03 -5.84266372e+00] [-1.04587658e-02 -2.49554542e-03 9.99942192e-01 5.57019865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15165253199999 meters 0.16158444518865575 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.85, Z:0.56 [[ 9.99945982e-01 -1.05530647e-03 1.03402133e-02 -4.63519306e+00] [ 1.02142823e-03 9.99994096e-01 3.28109107e-03 -5.84532182e+00] [-1.03436148e-02 -3.27035205e-03 9.99941155e-01 5.57579723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18165253199999 meters 0.163699953639443 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99949007e-01 -8.25901209e-04 1.00648624e-02 -4.63463009e+00] [ 7.85162650e-04 9.99991487e-01 4.05088157e-03 -5.84841114e+00] [-1.00681224e-02 -4.04277245e-03 9.99941143e-01 5.57985224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21165253199999 meters 0.15795914876569425 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99952770e-01 -7.41676200e-04 9.69056322e-03 -4.63364186e+00] [ 6.97059455e-04 9.99989146e-01 4.60671031e-03 -5.85103259e+00] [-9.69387473e-03 -4.59973784e-03 9.99942434e-01 5.57983147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24165253199999 meters 0.16436851786342935 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99953175e-01 -1.04563862e-03 9.62053652e-03 -4.63264536e+00] [ 1.00450351e-03 9.99990338e-01 4.27959902e-03 -5.85108103e+00] [-9.62491848e-03 -4.26973477e-03 9.99944564e-01 5.56637835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27165253199999 meters 0.1796725713542303 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99954053e-01 -1.16903004e-03 9.51447194e-03 -4.63195920e+00] [ 1.12876197e-03 9.99990389e-01 4.23656713e-03 -5.85163790e+00] [-9.51933317e-03 -4.22563290e-03 9.99945762e-01 5.55960536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30165253199999 meters 0.18033331521007803 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99956137e-01 -1.20836618e-03 9.28786097e-03 -4.63123325e+00] [ 1.16737375e-03 9.99989561e-01 4.41770453e-03 -5.85273273e+00] [-9.29310221e-03 -4.40666835e-03 9.99947108e-01 5.55763426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33165253199999 meters 0.17029455901079454 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99961875e-01 -1.43113203e-03 8.61391260e-03 -4.62902323e+00] [ 1.39014963e-03 9.99987696e-01 4.76180707e-03 -5.85602003e+00] [-8.62062139e-03 -4.74965090e-03 9.99951562e-01 5.54915744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361652532 meters 0.17073149489568062 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99961625e-01 -1.49318435e-03 8.63247616e-03 -4.62877994e+00] [ 1.45263492e-03 9.99987892e-01 4.70167422e-03 -5.85625449e+00] [-8.63939211e-03 -4.68895396e-03 9.99951686e-01 5.54438668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391652532 meters 0.17118836703582127 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99961140e-01 -1.61394802e-03 8.66683290e-03 -4.62858252e+00] [ 1.57496120e-03 9.99988620e-01 4.50333516e-03 -5.85599874e+00] [-8.67400241e-03 -4.48951024e-03 9.99952302e-01 5.53951932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421652532 meters 0.16799404926186165 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99961181e-01 -1.66133095e-03 8.65306159e-03 -4.62838953e+00] [ 1.62232314e-03 9.99988500e-01 4.51304856e-03 -5.85635979e+00] [-8.66045975e-03 -4.49883531e-03 9.99952377e-01 5.53704870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451652532 meters 0.16740462826493968 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99961579e-01 -1.56462234e-03 8.62506589e-03 -4.62824232e+00] [ 1.52311563e-03 9.99987239e-01 4.81680491e-03 -5.85783828e+00] [-8.63249231e-03 -4.80348287e-03 9.99951202e-01 5.53643007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48165253199998 meters 0.15843147268255905 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99945742e-01 -5.77808752e-03 8.66755296e-03 -4.62815772e+00] [ 5.77213511e-03 9.99983088e-01 7.11605519e-04 -5.85889037e+00] [-8.67151809e-03 -6.61536622e-04 9.99962183e-01 5.53428193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51165253199999 meters 0.15585024767641045 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99949015e-01 -5.49301765e-03 8.47316161e-03 -4.62798433e+00] [ 5.48060635e-03 9.99983875e-01 1.48730182e-03 -5.86136252e+00] [-8.48119476e-03 -1.44078792e-03 9.99962996e-01 5.54043837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54165253199999 meters 0.15473913724948962 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99948081e-01 -5.20300111e-03 8.76145628e-03 -4.62894943e+00] [ 5.18706706e-03 9.99984854e-01 1.84039647e-03 -5.86189647e+00] [-8.77089916e-03 -1.79485466e-03 9.99959924e-01 5.54435961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57165253199999 meters 0.15559708176691533 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99946277e-01 -5.26006683e-03 8.93162360e-03 -4.62926905e+00] [ 5.24563729e-03 9.99984900e-01 1.63821504e-03 -5.86111470e+00] [-8.94010585e-03 -1.59127497e-03 9.99958770e-01 5.54211213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60165253199999 meters 0.1511373754472055 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99944390e-01 -5.28056177e-03 9.12861760e-03 -4.62964335e+00] [ 5.26751232e-03 9.99985071e-01 1.45296214e-03 -5.86046624e+00] [-9.13615377e-03 -1.40479623e-03 9.99957278e-01 5.53969098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63165253199999 meters 0.1556784227852461 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99944533e-01 -5.05207357e-03 9.24163874e-03 -4.63019409e+00] [ 5.03501832e-03 9.99985580e-01 1.86781547e-03 -5.86147338e+00] [-9.25094181e-03 -1.82118005e-03 9.99955551e-01 5.54490230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66165253199999 meters 0.1580901656997675 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99949007e-01 -4.49231124e-03 9.04452784e-03 -4.63040081e+00] [ 4.46412823e-03 9.99985125e-01 3.13380977e-03 -5.86518978e+00] [-9.05847135e-03 -3.09327403e-03 9.99954187e-01 5.55834291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69165253199999 meters 0.15574814627720737 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99949043e-01 -4.26956280e-03 9.14777321e-03 -4.63096374e+00] [ 4.23781758e-03 9.99984941e-01 3.48684464e-03 -5.86595911e+00] [-9.16252276e-03 -3.44790037e-03 9.99952079e-01 5.56418888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721652532 meters 0.15343575968731324 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99949942e-01 -3.96134023e-03 9.18806089e-03 -4.63143685e+00] [ 3.92420053e-03 9.99984072e-01 4.05668160e-03 -5.86738261e+00] [-9.20398443e-03 -4.02042273e-03 9.99949560e-01 5.57112286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751652532 meters 0.14975230328619096 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99950366e-01 -4.09961824e-03 9.08072558e-03 -4.63091946e+00] [ 4.06291591e-03 9.99983518e-01 4.05655090e-03 -5.86769287e+00] [-9.09720622e-03 -4.01945533e-03 9.99950541e-01 5.56709807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781652532 meters 0.14813428676275353 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99948285e-01 -4.31349690e-03 9.20983677e-03 -4.63087706e+00] [ 4.28041952e-03 9.99984329e-01 3.60822330e-03 -5.86654383e+00] [-9.22525651e-03 -3.56861473e-03 9.99951079e-01 5.56044248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811652532 meters 0.14728930084357936 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99946920e-01 -4.41296595e-03 9.31035290e-03 -4.63104318e+00] [ 4.38187055e-03 9.99984763e-01 3.35763287e-03 -5.86571775e+00] [-9.32502816e-03 -3.31665789e-03 9.99951021e-01 5.55879895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841652532 meters 0.1463505225871768 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99946642e-01 -4.36749863e-03 9.36153531e-03 -4.63130400e+00] [ 4.33561552e-03 9.99984741e-01 3.42334931e-03 -5.86572227e+00] [-9.37634394e-03 -3.38257863e-03 9.99950320e-01 5.56143237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87165253199998 meters 0.14601102911603428 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99946458e-01 -4.32873540e-03 9.39910590e-03 -4.63138464e+00] [ 4.29588888e-03 9.99984605e-01 3.51202365e-03 -5.86612840e+00] [-9.41416382e-03 -3.47145810e-03 9.99949660e-01 5.56173791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90165253199999 meters 0.1621581310485789 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99947161e-01 -4.43312898e-03 9.27486837e-03 -4.63096903e+00] [ 4.40132202e-03 9.99984373e-01 3.44697549e-03 -5.86616734e+00] [-9.29000432e-03 -3.40597167e-03 9.99951046e-01 5.56029090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93165253199999 meters 0.16024725401821957 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99946057e-01 -4.47472186e-03 9.37340703e-03 -4.63116589e+00] [ 4.44411952e-03 9.99984735e-01 3.28309272e-03 -5.86562555e+00] [-9.38795488e-03 -3.24125908e-03 9.99950679e-01 5.55942225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96165253199999 meters 0.16016284126024163 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99944353e-01 -4.41389686e-03 9.58171241e-03 -4.63183434e+00] [ 4.38363103e-03 9.99985344e-01 3.17741477e-03 -5.86493343e+00] [-9.59559676e-03 -3.13523526e-03 9.99949046e-01 5.56212813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99165253199999 meters 0.16090564706568639 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99942648e-01 -4.34099677e-03 9.79062033e-03 -4.63256031e+00] [ 4.31036952e-03 9.99985758e-01 3.14715879e-03 -5.86430797e+00] [-9.80414270e-03 -3.10477710e-03 9.99947118e-01 5.56577632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02165253199999 meters 0.15756030188924233 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99942529e-01 -4.40045973e-03 9.77624009e-03 -4.63242864e+00] [ 4.37053814e-03 9.99985706e-01 3.07990317e-03 -5.86425569e+00] [-9.78965334e-03 -3.03699874e-03 9.99947468e-01 5.56454639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05165253199999 meters 0.15627380984045372 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99943055e-01 -4.12861022e-03 9.84077619e-03 -4.63295361e+00] [ 4.09433634e-03 9.99985492e-01 3.50044785e-03 -5.86520453e+00] [-9.85508540e-03 -3.45995707e-03 9.99945452e-01 5.57086641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08165253199999 meters 0.15627380984045372 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99943055e-01 -4.12861022e-03 9.84077619e-03 -4.63295361e+00] [ 4.09433634e-03 9.99985492e-01 3.50044785e-03 -5.86520453e+00] [-9.85508540e-03 -3.45995707e-03 9.99945452e-01 5.57086641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111652532 meters 0.15558849212890744 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99940781e-01 -4.36088079e-03 9.97077061e-03 -4.63287631e+00] [ 4.33184008e-03 9.99986318e-01 2.93232753e-03 -5.86373141e+00] [-9.98342172e-03 -2.88896210e-03 9.99945991e-01 5.56338024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141652532 meters 0.1566375289248051 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99938140e-01 -4.67939100e-03 1.00905669e-02 -4.63270018e+00] [ 4.65690456e-03 9.99986623e-01 2.25080706e-03 -5.86191340e+00] [-1.01009643e-02 -2.20367702e-03 9.99946556e-01 5.55478464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171652532 meters 0.16292218581382154 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99936122e-01 -4.60414381e-03 1.03225345e-02 -4.63344865e+00] [ 4.58245723e-03 9.99987246e-01 2.12356532e-03 -5.86094511e+00] [-1.03321801e-02 -2.07612709e-03 9.99944466e-01 5.55680917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201652532 meters 0.16090863560474314 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99932476e-01 -4.67341627e-03 1.06396388e-02 -4.63414066e+00] [ 4.65623667e-03 9.99987817e-01 1.63887773e-03 -5.85909146e+00] [-1.06471684e-02 -1.58922639e-03 9.99942054e-01 5.55460819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23165253199998 meters 0.16275373138081392 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.56 [[ 9.99929419e-01 -4.83279325e-03 1.08536009e-02 -4.63465767e+00] [ 4.82162668e-03 9.99987820e-01 1.05476658e-03 -5.85688882e+00] [-1.08585662e-02 -1.00236012e-03 9.99940542e-01 5.55406053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26165253199999 meters 0.1623328545986867 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.86, Z:0.56 [[ 9.99925894e-01 -4.80714227e-03 1.11847585e-02 -4.63553467e+00] [ 4.79919874e-03 9.99988212e-01 7.36941839e-04 -5.85538881e+00] [-1.11881693e-02 -6.83209348e-04 9.99937177e-01 5.55448768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29165253199999 meters 0.16147758165722 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.85, Z:0.56 [[ 9.99924169e-01 -5.00556156e-03 1.12516575e-02 -4.63552950e+00] [ 5.00253980e-03 9.99987443e-01 2.96690505e-04 -5.85398662e+00] [-1.12530013e-02 -2.40381143e-04 9.99936654e-01 5.55123096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32165253199999 meters 0.1624326531690604 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99938181e-01 -1.17543080e-03 1.10567894e-02 -4.63481782e+00] [ 1.13287293e-03 9.99991930e-01 3.85450227e-03 -5.85172312e+00] [-1.10612309e-02 -3.84173805e-03 9.99931443e-01 5.54626038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35165253199999 meters 0.1682449481722569 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99937711e-01 -1.49129904e-03 1.10611624e-02 -4.63454248e+00] [ 1.45552184e-03 9.99993686e-01 3.24183385e-03 -5.85000380e+00] [-1.10659271e-02 -3.22553215e-03 9.99933568e-01 5.54097468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38165253199999 meters 0.16740623160222445 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99935257e-01 -1.71233016e-03 1.12494277e-02 -4.63485964e+00] [ 1.68361939e-03 9.99995303e-01 2.56117308e-03 -5.84768363e+00] [-1.12537604e-02 -2.54206751e-03 9.99933443e-01 5.53737423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41165253199999 meters 0.17561188563646554 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99925965e-01 2.61631872e-03 1.18835916e-02 -4.63677877e+00] [-2.68682252e-03 9.99978862e-01 5.92078408e-03 -5.84326260e+00] [-1.18678498e-02 -5.95227484e-03 9.99911858e-01 5.54341829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44165253199999 meters 0.17983470971912469 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99920192e-01 2.46521681e-03 1.23907815e-02 -4.63800026e+00] [-2.52730914e-03 9.99984316e-01 4.99801406e-03 -5.83955644e+00] [-1.23782660e-02 -5.02893051e-03 9.99910740e-01 5.54255623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471652532 meters 0.1761476127028371 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99914262e-01 2.23990806e-03 1.29015928e-02 -4.63895442e+00] [-2.29094848e-03 9.99989603e-01 3.94271372e-03 -5.83585537e+00] [-1.28926274e-02 -3.97193257e-03 9.99908998e-01 5.53659952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501652532 meters 0.1667470708708082 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99909815e-01 2.09555590e-03 1.32653943e-02 -4.63973910e+00] [-2.13840262e-03 9.99992540e-01 3.21660190e-03 -5.83324655e+00] [-1.32585547e-02 -3.24467856e-03 9.99906837e-01 5.53433307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531652532 meters 0.17868690452166777 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99906145e-01 2.00563979e-03 1.35528104e-02 -4.64036852e+00] [-2.04298442e-03 9.99994153e-01 2.74220666e-03 -5.83158029e+00] [-1.35472313e-02 -2.76963747e-03 9.99904396e-01 5.53312266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561652532 meters 0.18114822875305475 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99908075e-01 1.82446560e-03 1.34355267e-02 -4.64014381e+00] [-1.85699319e-03 9.99995374e-01 2.40893564e-03 -5.83039047e+00] [-1.34310696e-02 -2.43366388e-03 9.99906837e-01 5.53421380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59165253199998 meters 0.17246441545866123 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99905573e-01 1.61338602e-03 1.36470772e-02 -4.64042504e+00] [-1.63794835e-03 9.99997059e-01 1.78883771e-03 -5.82847972e+00] [-1.36441510e-02 -1.81102200e-03 9.99905274e-01 5.52965883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62165253199998 meters 0.17974445886869528 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99904592e-01 1.53071626e-03 1.37281766e-02 -4.64063855e+00] [-1.55230090e-03 9.99997576e-01 1.56176979e-03 -5.82758767e+00] [-1.37257527e-02 -1.58293104e-03 9.99904544e-01 5.52949503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65165253199999 meters 0.17044644403822273 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99901358e-01 1.03413756e-03 1.40073312e-02 -4.64086190e+00] [-1.03822030e-03 9.99999421e-01 2.84202541e-04 -5.82337350e+00] [-1.40070292e-02 -2.98717202e-04 9.99901852e-01 5.52076126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68165253199999 meters 0.18047275195922352 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99897543e-01 1.05412031e-03 1.42755749e-02 -4.64179031e+00] [-1.05394935e-03 9.99999444e-01 -1.94994760e-05 -5.82158788e+00] [-1.42755875e-02 4.45174529e-06 9.99898099e-01 5.52456187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71165253199999 meters 0.1692335286210537 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99893686e-01 8.60075329e-04 1.45559676e-02 -4.64230575e+00] [-8.51032210e-04 9.99999441e-01 -6.27448081e-04 -5.81953042e+00] [-1.45564991e-02 6.14993777e-04 9.99893859e-01 5.52154930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74165253199999 meters 0.17085401222881294 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99899003e-01 8.32271498e-04 1.41876818e-02 -4.64168171e+00] [-8.26384380e-04 9.99999570e-01 -4.20803232e-04 -5.82031359e+00] [-1.41880259e-02 4.09036254e-04 9.99899261e-01 5.52672913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77165253199999 meters 0.17087893646708777 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99896529e-01 6.73754161e-04 1.43693079e-02 -4.64197424e+00] [-6.60602094e-04 9.99999359e-01 -9.20015639e-04 -5.81862772e+00] [-1.43699185e-02 9.10428049e-04 9.99896333e-01 5.52366265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80165253199999 meters 0.17625983643933585 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99891258e-01 5.45680438e-04 1.47368133e-02 -4.64274691e+00] [-5.23518840e-04 9.99998726e-01 -1.50764152e-03 -5.81635647e+00] [-1.47376172e-02 1.49976257e-03 9.99890271e-01 5.52155181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83165253199999 meters 0.16879820540669324 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99890978e-01 7.32933483e-04 1.47476753e-02 -4.64332101e+00] [-7.15086117e-04 9.99999006e-01 -1.21541844e-03 -5.81653680e+00] [-1.47485515e-02 1.20474008e-03 9.99890508e-01 5.53061677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861652532 meters 0.18907240291545602 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99889718e-01 7.73009333e-04 1.48308695e-02 -4.64368164e+00] [-7.54871265e-04 9.99998960e-01 -1.22855329e-03 -5.81634408e+00] [-1.48318038e-02 1.21722240e-03 9.99889262e-01 5.53396220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891652532 meters 0.17039761992577965 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99891032e-01 9.20170828e-04 1.47335699e-02 -4.64376763e+00] [-9.07135596e-04 9.99999191e-01 -8.91388615e-04 -5.81716665e+00] [-1.47343782e-02 8.77926136e-04 9.99891058e-01 5.53999662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921652532 meters 0.177909841627074 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99891502e-01 9.72523656e-04 1.46982145e-02 -4.64380745e+00] [-9.61609505e-04 9.99999257e-01 -7.49598509e-04 -5.81757968e+00] [-1.46989326e-02 7.35383236e-04 9.99891694e-01 5.54264447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951652532 meters 0.18164423063398846 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99894183e-01 9.62614660e-04 1.45153817e-02 -4.64354393e+00] [-9.54374204e-04 9.99999379e-01 -5.74621271e-04 -5.81812874e+00] [-1.45159259e-02 5.60707360e-04 9.99894481e-01 5.54637098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98165253199998 meters 0.17737258056092603 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99895066e-01 9.51894492e-04 1.44551604e-02 -4.64345737e+00] [-9.43990065e-04 9.99999401e-01 -5.53637159e-04 -5.81814637e+00] [-1.44556788e-02 5.39933535e-04 9.99895365e-01 5.54730996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01165253199999 meters 0.17005707359378988 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99894092e-01 8.66412874e-04 1.45277171e-02 -4.64350645e+00] [-8.55538074e-04 9.99999349e-01 -7.54753493e-04 -5.81760360e+00] [-1.45283615e-02 7.42244544e-04 9.99894182e-01 5.54515217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04165253199999 meters 0.1702685393074026 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99891071e-01 8.15367625e-04 1.47370715e-02 -4.64388642e+00] [-8.00555658e-04 9.99999169e-01 -1.01095343e-03 -5.81669477e+00] [-1.47378836e-02 9.99045461e-04 9.99890892e-01 5.54294433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07165253199999 meters 0.1697716867689474 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99891259e-01 8.43309640e-04 1.47227325e-02 -4.64377993e+00] [-8.31280714e-04 9.99999316e-01 -8.23131428e-04 -5.81768067e+00] [-1.47234166e-02 8.10803196e-04 9.99891276e-01 5.54277524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10165253199999 meters 0.18278470347014003 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99893628e-01 8.51730868e-04 1.45604416e-02 -4.64329578e+00] [-8.42279781e-04 9.99999431e-01 -6.55213374e-04 -5.81860358e+00] [-1.45609914e-02 6.42879712e-04 9.99893776e-01 5.54210507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13165253199999 meters 0.19903558933061477 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99897284e-01 9.95879778e-04 1.42978581e-02 -4.64271507e+00] [-9.94777298e-04 9.99999502e-01 -8.42197695e-05 -5.82085806e+00] [-1.42979349e-02 6.99879341e-05 9.99897777e-01 5.54441402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16165253199999 meters 0.17591324273935377 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99910252e-01 5.98654233e-04 1.33838923e-02 -4.63979584e+00] [-6.00838204e-04 9.99999807e-01 1.59158644e-04 -5.82433175e+00] [-1.33837944e-02 -1.67185914e-04 9.99910419e-01 5.53244032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19165253199999 meters 0.1906403312524299 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.55 [[ 9.99910106e-01 5.49978542e-04 1.33969349e-02 -4.63956509e+00] [-5.51953083e-04 9.99999837e-01 1.43690556e-04 -5.82468200e+00] [-1.33968537e-02 -1.51072118e-04 9.99910247e-01 5.52839881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221652532 meters 0.18431139643295183 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99914081e-01 4.54243743e-04 1.31005461e-02 -4.63861708e+00] [-4.58526397e-04 9.99999842e-01 3.23904778e-04 -5.82599774e+00] [-1.31003969e-02 -3.29883894e-04 9.99914132e-01 5.52525268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251652532 meters 0.1840158560128846 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99917652e-01 4.23944391e-04 1.28260959e-02 -4.63779477e+00] [-4.31948907e-04 9.99999714e-01 6.21316658e-04 -5.82759233e+00] [-1.28258288e-02 -6.26805712e-04 9.99917549e-01 5.52344908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281652532 meters 0.1758735758344572 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99927065e-01 2.19075856e-04 1.20754331e-02 -4.63559563e+00] [-2.32843082e-04 9.99999325e-01 1.13870801e-03 -5.83132118e+00] [-1.20751755e-02 -1.14143664e-03 9.99926441e-01 5.51851152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311652532 meters 0.17435050656424086 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.55 [[ 9.99928786e-01 2.98306360e-04 1.19303520e-02 -4.63522307e+00] [-3.15779767e-04 9.99998880e-01 1.46276099e-03 -5.83270662e+00] [-1.19299023e-02 -1.46642418e-03 9.99927761e-01 5.51918322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34165253199998 meters 0.17388670654918162 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.83, Z:0.55 [[ 9.99931808e-01 4.31944931e-04 1.16701407e-02 -4.63467848e+00] [-4.55765593e-04 9.99997818e-01 2.03858082e-03 -5.83494714e+00] [-1.16692346e-02 -2.04376066e-03 9.99929824e-01 5.52208845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37165253199998 meters 0.17187607924688858 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99933691e-01 5.60647710e-04 1.15021849e-02 -4.63425839e+00] [-5.89443608e-04 9.99996701e-01 2.50027818e-03 -5.83689751e+00] [-1.15007452e-02 -2.50689227e-03 9.99930722e-01 5.52309410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40165253199999 meters 0.16784362894644422 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99926885e-01 -3.58218597e-03 1.15495982e-02 -4.63405442e+00] [ 3.59871287e-03 9.99992530e-01 -1.41048549e-03 -5.83902378e+00] [-1.15444593e-02 1.45194605e-03 9.99932306e-01 5.51887373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43165253199999 meters 0.17232525576505286 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.55 [[ 9.99932194e-01 -3.25664032e-03 1.11804532e-02 -4.63356450e+00] [ 3.26099028e-03 9.99994614e-01 -3.70859832e-04 -5.84249455e+00] [-1.11791853e-02 4.07294035e-04 9.99937428e-01 5.52662893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46165253199999 meters 0.16606906847264896 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99938068e-01 -3.47246691e-03 1.05736759e-02 -4.63151937e+00] [ 3.47269149e-03 9.99993970e-01 -2.87935028e-06 -5.84555306e+00] [-1.05736022e-02 3.95982864e-05 9.99944097e-01 5.51838097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49165253199999 meters 0.16791489975960636 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99940839e-01 -3.18636308e-03 1.04002559e-02 -4.63145598e+00] [ 3.17852794e-03 9.99994652e-01 7.69802499e-04 -5.84790812e+00] [-1.04026531e-02 -7.36699453e-04 9.99945620e-01 5.52554467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52165253199999 meters 0.1683156290388987 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99943772e-01 -3.09258592e-03 1.01433971e-02 -4.63085742e+00] [ 3.08007239e-03 9.99994476e-01 1.24905222e-03 -5.84980210e+00] [-1.01472039e-02 -1.21773960e-03 9.99947774e-01 5.52685370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55165253199999 meters 0.18354706068659202 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945232e-01 -2.95636529e-03 1.00395519e-02 -4.63072184e+00] [ 2.94025113e-03 9.99994366e-01 1.61944904e-03 -5.85108078e+00] [-1.00442831e-02 -1.58984154e-03 9.99948291e-01 5.52938559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58165253199999 meters 0.18166194268084349 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99948149e-01 -3.13160914e-03 9.68976310e-03 -4.62952749e+00] [ 3.11518396e-03 9.99993686e-01 1.70973577e-03 -5.85238623e+00] [-9.69505615e-03 -1.67946173e-03 9.99951591e-01 5.52487206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611652532 meters 0.16597361671070957 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99948564e-01 -3.19544092e-03 9.62588804e-03 -4.62921428e+00] [ 3.17942663e-03 9.99993537e-01 1.67851283e-03 -5.85265137e+00] [-9.63118942e-03 -1.64782169e-03 9.99952261e-01 5.52285572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641652532 meters 0.15774480658682016 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99950006e-01 -3.10969162e-03 9.50342433e-03 -4.62900952e+00] [ 3.09112945e-03 9.99993287e-01 1.96727393e-03 -5.85367969e+00] [-9.50947816e-03 -1.93779927e-03 9.99952906e-01 5.52490875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671652532 meters 0.16888327478563145 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99948282e-01 -3.07200315e-03 9.69519484e-03 -4.62958029e+00] [ 3.05464711e-03 9.99993706e-01 1.80447040e-03 -5.85261928e+00] [-9.70067716e-03 -1.77476168e-03 9.99951372e-01 5.52555575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701652532 meters 0.1572371423445197 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99946133e-01 -3.27102875e-03 9.85041608e-03 -4.62976863e+00] [ 3.25821556e-03 9.99993825e-01 1.31654301e-03 -5.85101415e+00] [-9.85466171e-03 -1.28437732e-03 9.99950617e-01 5.52202156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73165253199998 meters 0.19469889803812207 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99944856e-01 -3.25184083e-03 9.98555146e-03 -4.63023170e+00] [ 3.23947663e-03 9.99993966e-01 1.25413422e-03 -5.85054641e+00] [-9.98956945e-03 -1.22171710e-03 9.99949357e-01 5.52392370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76165253199999 meters 0.17258288107729 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945563e-01 -3.36805251e-03 9.87563186e-03 -4.62983821e+00] [ 3.35698902e-03 9.99993719e-01 1.13664384e-03 -5.85039472e+00] [-9.87939811e-03 -1.10342957e-03 9.99950589e-01 5.52199860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79165253199999 meters 0.1706422906279523 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99943109e-01 -3.08505377e-03 1.02108629e-02 -4.63134718e+00] [ 3.07154305e-03 9.99994387e-01 1.33858913e-03 -5.84973350e+00] [-1.02149352e-02 -1.30714987e-03 9.99946972e-01 5.53218691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82165253199999 meters 0.16919785305322568 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99942302e-01 -3.19085624e-03 1.02572021e-02 -4.63136613e+00] [ 3.17947909e-03 9.99994312e-01 1.12530255e-03 -5.84912312e+00] [-1.02607345e-02 -1.09262507e-03 9.99946760e-01 5.53062283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85165253199999 meters 0.16938733722509927 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99941564e-01 -3.05530919e-03 1.03698810e-02 -4.63191290e+00] [ 3.04182839e-03 9.99994508e-01 1.31551941e-03 -5.84937897e+00] [-1.03738434e-02 -1.28389913e-03 9.99945366e-01 5.53501018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88165253199999 meters 0.16595168818469835 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99943553e-01 -3.03591299e-03 1.01820192e-02 -4.63136451e+00] [ 3.01967802e-03 9.99994146e-01 1.60946958e-03 -5.85097968e+00] [-1.01868458e-02 -1.57863231e-03 9.99946867e-01 5.53449333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91165253199999 meters 0.15870389523868744 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945957e-01 -3.03747737e-03 9.94267797e-03 -4.63068528e+00] [ 3.01880146e-03 9.99993652e-01 1.89282698e-03 -5.85237611e+00] [-9.94836428e-03 -1.86270971e-03 9.99948779e-01 5.53347665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94165253199999 meters 0.18197575586344306 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99944693e-01 -3.25030975e-03 1.00022934e-02 -4.63047484e+00] [ 3.23549339e-03 9.99993645e-01 1.49712131e-03 -5.85142172e+00] [-1.00070960e-02 -1.46467615e-03 9.99948855e-01 5.52716056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971652532 meters 0.18197575586344306 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99944693e-01 -3.25030975e-03 1.00022934e-02 -4.63047484e+00] [ 3.23549339e-03 9.99993645e-01 1.49712131e-03 -5.85142172e+00] [-1.00070960e-02 -1.46467615e-03 9.99948855e-01 5.52716056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001652532 meters 0.16161809477139596 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99944562e-01 -3.11524174e-03 1.00582399e-02 -4.63072442e+00] [ 3.09716770e-03 9.99993562e-01 1.81201551e-03 -5.85223938e+00] [-1.00638200e-02 -1.78076300e-03 9.99947773e-01 5.52881446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031652532 meters 0.16222736237581672 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99946051e-01 -3.18795159e-03 9.88594227e-03 -4.63014920e+00] [ 3.16944829e-03 9.99993197e-01 1.88678047e-03 -5.85289789e+00] [-9.89188998e-03 -1.85534570e-03 9.99949353e-01 5.52656218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061652532 meters 0.17795686653734594 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945854e-01 -3.14538203e-03 9.91947810e-03 -4.63026974e+00] [ 3.12596502e-03 9.99993169e-01 1.97236053e-03 -5.85307782e+00] [-9.92561417e-03 -1.94124579e-03 9.99948856e-01 5.52711443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09165253199998 meters 0.17592822832712218 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945884e-01 -3.20186266e-03 9.89829164e-03 -4.63011871e+00] [ 3.18268837e-03 9.99993030e-01 1.95227632e-03 -5.85322900e+00] [-9.90447357e-03 -1.92066749e-03 9.99949105e-01 5.52576888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12165253199998 meters 0.16331514239771378 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950611e-01 -3.34048283e-03 9.36036393e-03 -4.62880273e+00] [ 3.31841239e-03 9.99991680e-01 2.37240071e-03 -5.85546184e+00] [-9.36821102e-03 -2.34122199e-03 9.99953377e-01 5.52608229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15165253199999 meters 0.16688681699683505 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950956e-01 -3.34964763e-03 9.32011156e-03 -4.62871627e+00] [ 3.32712972e-03 9.99991511e-01 2.43051237e-03 -5.85571700e+00] [-9.32817381e-03 -2.39938395e-03 9.99953613e-01 5.52647317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18165253199999 meters 0.16394848769459475 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950649e-01 -3.38372874e-03 9.34078426e-03 -4.62873845e+00] [ 3.36175163e-03 9.99991547e-01 2.36751116e-03 -5.85552873e+00] [-9.34871631e-03 -2.33599293e-03 9.99953571e-01 5.52603313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21165253199999 meters 0.16307354884422656 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99949097e-01 -3.42231076e-03 9.49158813e-03 -4.62898351e+00] [ 3.40066219e-03 9.99991582e-01 2.29601938e-03 -5.85549715e+00] [-9.49936592e-03 -2.26362482e-03 9.99952318e-01 5.52429034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24165253199999 meters 0.16786598084877893 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950567e-01 -3.45369487e-03 9.32387077e-03 -4.62846928e+00] [ 3.43112025e-03 9.99991146e-01 2.43607456e-03 -5.85634830e+00] [-9.33220168e-03 -2.40396282e-03 9.99953564e-01 5.52313227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27165253199999 meters 0.16577241562923137 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950117e-01 -3.37455511e-03 9.40086670e-03 -4.62877488e+00] [ 3.35063825e-03 9.99991113e-01 2.55870160e-03 -5.85658239e+00] [-9.40941763e-03 -2.52707506e-03 9.99952537e-01 5.52517546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30165253199999 meters 0.16399820961803918 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99952263e-01 -3.31647366e-03 9.19090730e-03 -4.62829995e+00] [ 3.28935701e-03 9.99990198e-01 2.96392584e-03 -5.85830038e+00] [-9.20064698e-03 -2.93355218e-03 9.99953370e-01 5.52700892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33165253199999 meters 0.16018500428225915 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99952346e-01 -3.40132702e-03 9.15079892e-03 -4.62805283e+00] [ 3.37514617e-03 9.99990171e-01 2.87496870e-03 -5.85828685e+00] [-9.16048769e-03 -2.84394641e-03 9.99953998e-01 5.52484998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361652532 meters 0.15721126483922776 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99953952e-01 -3.50568596e-03 8.93332988e-03 -4.62729399e+00] [ 3.47931325e-03 9.99989549e-01 2.96600334e-03 -5.85923102e+00] [-8.94363439e-03 -2.93478491e-03 9.99955698e-01 5.52190591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391652532 meters 0.1553884841225326 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99957071e-01 -3.46277283e-03 8.59449485e-03 -4.62664186e+00] [ 3.43374869e-03 9.99988360e-01 3.38952340e-03 -5.86094678e+00] [-8.60613196e-03 -3.35986656e-03 9.99957322e-01 5.52582303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421652532 meters 0.16308719414312317 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99954167e-01 -3.64032798e-03 8.85506881e-03 -4.62699888e+00] [ 3.61550156e-03 9.99989493e-01 2.81803304e-03 -5.85918437e+00] [-8.86523434e-03 -2.78588836e-03 9.99956822e-01 5.52026208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451652532 meters 0.1923261945028407 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99949374e-01 -3.78947689e-03 9.32140549e-03 -4.62781309e+00] [ 3.76978139e-03 9.99990627e-01 2.12959594e-03 -5.85671784e+00] [-9.32938817e-03 -2.09434846e-03 9.99954287e-01 5.51403193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48165253199998 meters 0.17206432226629417 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99949431e-01 -3.91151044e-03 9.26476261e-03 -4.62741786e+00] [ 3.89291215e-03 9.99990373e-01 2.02460601e-03 -5.85681215e+00] [-9.27259268e-03 -1.98843672e-03 9.99955032e-01 5.51018457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51165253199999 meters 0.1554610581888822 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99949033e-01 -3.80995092e-03 9.34965262e-03 -4.62785393e+00] [ 3.79026538e-03 9.99990565e-01 2.12230043e-03 -5.85668772e+00] [-9.35765026e-03 -2.08675460e-03 9.99954039e-01 5.51359536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54165253199999 meters 0.18721202210733467 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99947149e-01 -4.01835050e-03 9.46319421e-03 -4.62784163e+00] [ 4.00260804e-03 9.99990575e-01 1.68189755e-03 -5.85558816e+00] [-9.46986348e-03 -1.64393120e-03 9.99953809e-01 5.50863076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57165253199999 meters 0.15820886161097344 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99946702e-01 -4.07759629e-03 9.48505425e-03 -4.62778163e+00] [ 4.06282366e-03 9.99990504e-01 1.57621140e-03 -5.85543686e+00] [-9.49139133e-03 -1.53759129e-03 9.99953774e-01 5.50695579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60165253199999 meters 0.16531357348183665 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99947046e-01 -4.03249752e-03 9.46807796e-03 -4.62794251e+00] [ 4.01684430e-03 9.99990535e-01 1.67169691e-03 -5.85549098e+00] [-9.47472946e-03 -1.63357659e-03 9.99953779e-01 5.51041604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63165253199999 meters 0.16678302770558562 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99944537e-01 -3.85305212e-03 9.80183632e-03 -4.62935935e+00] [ 3.83774749e-03 9.99991388e-01 1.57973406e-03 -5.85371618e+00] [-9.80783871e-03 -1.54202947e-03 9.99950713e-01 5.51944417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66165253199999 meters 0.16430187381358466 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99945522e-01 -3.78142428e-03 9.72904290e-03 -4.62940622e+00] [ 3.76340023e-03 9.99991169e-01 1.87024356e-03 -5.85465001e+00] [-9.73602917e-03 -1.83352739e-03 9.99950923e-01 5.52462510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69165253199999 meters 0.1584641080421422 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99950013e-01 -3.50113192e-03 9.36558058e-03 -4.62913582e+00] [ 3.47476353e-03 9.99989958e-01 2.83024846e-03 -5.85753582e+00] [-9.37539561e-03 -2.79756380e-03 9.99952137e-01 5.53743127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721652532 meters 0.1524594729545046 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99955871e-01 -3.57495408e-03 8.68763834e-03 -4.62784928e+00] [ 3.54491778e-03 9.99987695e-01 3.47030401e-03 -5.86016565e+00] [-8.69993762e-03 -3.43935391e-03 9.99956240e-01 5.54487961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751652532 meters 0.15371883533932545 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99954963e-01 -3.96208295e-03 8.62400041e-03 -4.62713558e+00] [ 3.93782598e-03 9.99988248e-01 2.82789388e-03 -5.85875464e+00] [-8.63510342e-03 -2.79380671e-03 9.99958814e-01 5.53500745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781652532 meters 0.16967520375737496 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99952122e-01 -4.09945089e-03 8.88530751e-03 -4.62764225e+00] [ 4.07966179e-03 9.99989160e-01 2.24415345e-03 -5.85656144e+00] [-8.89441099e-03 -2.20779696e-03 9.99958007e-01 5.53107849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811652532 meters 0.16683167571915286 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99954793e-01 1.35307549e-04 9.50760237e-03 -4.62908957e+00] [-1.88145244e-04 9.99984543e-01 5.55674064e-03 -5.85236763e+00] [-9.50670354e-03 -5.55827824e-03 9.99939362e-01 5.52807320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84165253199998 meters 0.1583794571718638 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99950641e-01 2.11909692e-04 9.93329299e-03 -4.63015389e+00] [-2.65192257e-04 9.99985584e-01 5.36302827e-03 -5.85146654e+00] [-9.93201331e-03 -5.36539779e-03 9.99936282e-01 5.52960723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87165253199998 meters 0.1730537390734911 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99940958e-01 -4.03533799e-03 1.00894501e-02 -4.63058254e+00] [ 4.02565022e-03 9.99991417e-01 9.80312395e-04 -5.85114238e+00] [-1.00933194e-02 -9.39637918e-04 9.99948620e-01 5.53063961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90165253199999 meters 0.17500433054662243 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99941341e-01 -3.78620607e-03 1.01478278e-02 -4.63119463e+00] [ 3.77296301e-03 9.99992006e-01 1.32384104e-03 -5.85161273e+00] [-1.01527590e-02 -1.28547601e-03 9.99947633e-01 5.53859520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93165253199999 meters 0.16915008466010104 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99937697e-01 -3.91215589e-03 1.04545675e-02 -4.63172224e+00] [ 3.90493650e-03 9.99992123e-01 7.10872376e-04 -5.84964822e+00] [-1.04572662e-02 -6.70003664e-04 9.99945097e-01 5.53406066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96165253199999 meters 0.16918489386743676 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99935429e-01 -3.84454808e-03 1.06937602e-02 -4.63273367e+00] [ 3.83872125e-03 9.99992472e-01 5.65353793e-04 -5.84820891e+00] [-1.06958532e-02 -5.24266924e-04 9.99942660e-01 5.54118339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99165253199999 meters 0.16748930092094316 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99934562e-01 -3.77118723e-03 1.08004580e-02 -4.63327999e+00] [ 3.76515258e-03 9.99992744e-01 5.79019875e-04 -5.84770841e+00] [-1.08025632e-02 -5.38316613e-04 9.99941506e-01 5.54574895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02165253199999 meters 0.17628403742679388 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99932481e-01 -3.78203263e-03 1.09877130e-02 -4.63376205e+00] [ 3.77787375e-03 9.99992784e-01 3.99233923e-04 -5.84691263e+00] [-1.09891437e-02 -3.57696775e-04 9.99939554e-01 5.54601474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05165253199999 meters 0.1673425610284348 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99934068e-01 -3.92388437e-03 1.07918304e-02 -4.63313514e+00] [ 3.92077343e-03 9.99992266e-01 3.09408930e-04 -5.84707128e+00] [-1.07929610e-02 -2.67076209e-04 9.99941719e-01 5.54411700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08165253199999 meters 0.17122644740086895 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99933982e-01 -3.81682158e-03 1.08380358e-02 -4.63347314e+00] [ 3.81212880e-03 9.99992631e-01 4.53617566e-04 -5.84720458e+00] [-1.08396873e-02 -4.12271630e-04 9.99941164e-01 5.54800715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111652532 meters 0.1704725268890449 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.55 [[ 9.99934208e-01 -3.85381971e-03 1.08040154e-02 -4.63345082e+00] [ 3.84972253e-03 9.99992510e-01 3.99998965e-04 -5.84699283e+00] [-1.08054760e-02 -3.58380187e-04 9.99941555e-01 5.54905926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141652532 meters 0.17071137471041434 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99935086e-01 -3.74463174e-03 1.07611409e-02 -4.63386961e+00] [ 3.73858010e-03 9.99992842e-01 5.82421581e-04 -5.84679397e+00] [-1.07632449e-02 -5.42152386e-04 9.99941928e-01 5.55820241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171652532 meters 0.17996887708210688 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99934842e-01 -3.73844943e-03 1.07858778e-02 -4.63406797e+00] [ 3.73282229e-03 9.99992886e-01 5.41798337e-04 -5.84640571e+00] [-1.07878265e-02 -5.01501270e-04 9.99941684e-01 5.56043703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201652532 meters 0.16748810206434597 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99932489e-01 -3.90192403e-03 1.09449621e-02 -4.63427808e+00] [ 3.90101745e-03 9.99992386e-01 1.04179152e-04 -5.84504496e+00] [-1.09452853e-02 -6.14756303e-05 9.99940097e-01 5.55711539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23165253199998 meters 0.18947546911300703 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.85, Z:0.56 [[ 9.99932605e-01 -3.79183464e-03 1.09730124e-02 -4.63462383e+00] [ 3.78892017e-03 9.99992781e-01 2.86379354e-04 -5.84524295e+00] [-1.09740191e-02 -2.44784185e-04 9.99939754e-01 5.56191215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26165253199999 meters 0.1882884657250739 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99930792e-01 -4.00586596e-03 1.10618538e-02 -4.63459639e+00] [ 4.00830799e-03 9.99991947e-01 -1.98599632e-04 -5.84389878e+00] [-1.10609692e-02 2.42925204e-04 9.99938796e-01 5.55727789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29165253199999 meters 0.1876310787690877 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99929765e-01 -4.17825320e-03 1.10909040e-02 -4.63449283e+00] [ 4.18460155e-03 9.99991094e-01 -5.49247774e-04 -5.84288346e+00] [-1.10885104e-02 5.95620212e-04 9.99938343e-01 5.55393087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32165253199999 meters 0.1898852251844015 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.84, Z:0.56 [[ 9.99928803e-01 -4.11903374e-03 1.11992077e-02 -4.63496781e+00] [ 4.12543548e-03 9.99991340e-01 -5.48582342e-04 -5.84243101e+00] [-1.11968511e-02 5.94744893e-04 9.99937136e-01 5.55708847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35165253199999 meters 0.1828424871345776 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99926432e-01 -3.96661042e-03 1.14628067e-02 -4.63605373e+00] [ 3.97355056e-03 9.99991936e-01 -5.82737799e-04 -5.84122747e+00] [-1.14604028e-02 6.28242970e-04 9.99934130e-01 5.56374759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38165253199999 meters 0.18132531305600236 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99924687e-01 -3.80928721e-03 1.16665816e-02 -4.63692415e+00] [ 3.81504081e-03 9.99992612e-01 -4.70954447e-04 -5.84087027e+00] [-1.16647014e-02 5.15427463e-04 9.99931832e-01 5.56973750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41165253199999 meters 0.1800396032414718 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99925467e-01 -3.83107394e-03 1.15923816e-02 -4.63692318e+00] [ 3.83705515e-03 9.99992517e-01 -4.93763513e-04 -5.84054199e+00] [-1.15904032e-02 5.38207319e-04 9.99932684e-01 5.57247293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44165253199999 meters 0.18528597062276586 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99930259e-01 -1.75494720e-05 1.18100513e-02 -4.63710843e+00] [-1.33712366e-05 9.99996573e-01 2.61808481e-03 -5.83660129e+00] [-1.18100568e-02 -2.61806014e-03 9.99926831e-01 5.56433443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471652532 meters 0.18038628682548716 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.56 [[ 9.99928910e-01 -2.63656767e-04 1.19207602e-02 -4.63711196e+00] [ 2.39195717e-04 9.99997863e-01 2.05334977e-03 -5.83503169e+00] [-1.19212762e-02 -2.05035240e-03 9.99926837e-01 5.55943436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501652532 meters 0.1873586936875079 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.56 [[ 9.99927524e-01 -3.15297272e-04 1.20352596e-02 -4.63758999e+00] [ 2.94213395e-04 9.99998419e-01 1.75357264e-03 -5.83354074e+00] [-1.20357934e-02 -1.74990461e-03 9.99926036e-01 5.56204865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531652532 meters 0.18616996395174315 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.56 [[ 9.99913794e-01 -1.81264553e-04 1.31290629e-02 -4.64043854e+00] [ 1.73353006e-04 9.99999803e-01 6.03733546e-04 -5.82733209e+00] [-1.31291697e-02 -6.01405538e-04 9.99913628e-01 5.56536332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561652532 meters 0.18384900621067307 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.56 [[ 9.99910525e-01 -4.61824413e-04 1.33689434e-02 -4.64080473e+00] [ 4.63760877e-04 9.99999882e-01 -1.41748163e-04 -5.82489288e+00] [-1.33688763e-02 1.47935473e-04 9.99910622e-01 5.56088669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59165253199998 meters 0.18002338948984972 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.82, Z:0.56 [[ 9.99908763e-01 -5.91212054e-04 1.34950567e-02 -4.64116945e+00] [ 5.98803543e-04 9.99999665e-01 -5.58504828e-04 -5.82322266e+00] [-1.34947220e-02 5.66534759e-04 9.99908782e-01 5.56075601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62165253199998 meters 0.1947089991261645 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.55 [[ 9.99858329e-01 6.02449909e-03 1.57171020e-02 -4.65432894e+00] [-6.00215219e-03 9.99980909e-01 -1.46860536e-03 -5.81942694e+00] [-1.57256496e-02 1.37406086e-03 9.99875400e-01 5.54023992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65165253199999 meters 0.1857540085375374 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.55 [[ 9.99854961e-01 5.86170923e-03 1.59905192e-02 -4.65476464e+00] [-5.82983586e-03 9.99980927e-01 -2.03915327e-03 -5.81764546e+00] [-1.60021672e-02 1.94563541e-03 9.99870064e-01 5.53590769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68165253199999 meters 0.1893203014735862 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.55 [[ 9.99854607e-01 5.76027543e-03 1.60494154e-02 -4.65478309e+00] [-5.72465946e-03 9.99981051e-01 -2.26420343e-03 -5.81709796e+00] [-1.60621537e-02 2.17199679e-03 9.99868636e-01 5.53389368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71165253199999 meters 0.18735476882495072 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99991361e-01 4.11528046e-03 5.84476505e-04 -4.65422210e+00] [-4.11536206e-03 9.99991522e-01 1.38475786e-04 -5.82043700e+00] [-5.83901684e-04 -1.40879922e-04 9.99999820e-01 5.61946126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74165253199999 meters 0.19169967832970256 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99991950e-01 3.87302098e-03 1.04900609e-03 -4.65483649e+00] [-3.87221308e-03 9.99992206e-01 -7.71095024e-04 -5.81761947e+00] [-1.05198438e-03 7.67026842e-04 9.99999152e-01 5.60974513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77165253199999 meters 0.18259284289140293 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99992859e-01 3.63828934e-03 1.02177044e-03 -4.65440931e+00] [-3.63712800e-03 9.99992740e-01 -1.13616838e-03 -5.81692052e+00] [-1.02589673e-03 1.13244396e-03 9.99998833e-01 5.60368392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80165253199999 meters 0.1857264956263871 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99993499e-01 3.50279056e-03 8.55554159e-04 -4.65382183e+00] [-3.50175983e-03 9.99993145e-01 -1.20329585e-03 -5.81706034e+00] [-8.59763188e-04 1.20029208e-03 9.99998910e-01 5.60063190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83165253199999 meters 0.18606705277312224 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99995274e-01 3.04073673e-03 4.53734922e-04 -4.65203569e+00] [-3.04001773e-03 9.99994136e-01 -1.57700114e-03 -5.81733825e+00] [-4.58527506e-04 1.57561432e-03 9.99998654e-01 5.58770639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861652532 meters 0.1749859708021337 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99994567e-01 3.29574705e-03 6.45150766e-05 -4.65159782e+00] [-3.29569889e-03 9.99994301e-01 -7.32901102e-04 -5.81990871e+00] [-6.69301655e-05 7.32684497e-04 9.99999729e-01 5.59704116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891652532 meters 0.1749859708021337 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99994567e-01 3.29574705e-03 6.45150766e-05 -4.65159782e+00] [-3.29569889e-03 9.99994301e-01 -7.32901102e-04 -5.81990871e+00] [-6.69301655e-05 7.32684497e-04 9.99999729e-01 5.59704116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921652532 meters 0.18238414535149255 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99994189e-01 3.40795870e-03 -8.81211625e-05 -4.65123824e+00] [-3.40799142e-03 9.99994123e-01 -3.73775118e-04 -5.82127687e+00] [ 8.68468345e-05 3.74073262e-04 9.99999926e-01 5.59784751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951652532 meters 0.18545318148454534 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99994967e-01 3.17263738e-03 -3.00879820e-05 -4.65089340e+00] [-3.17266035e-03 9.99994650e-01 -7.96911274e-04 -5.82042848e+00] [ 2.75595105e-05 7.97002722e-04 9.99999682e-01 5.58953766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98165253199998 meters 0.182499812269771 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.82, Z:0.56 [[ 9.99996051e-01 2.78625221e-03 -3.66667184e-04 -4.64929494e+00] [-2.78660108e-03 9.99995662e-01 -9.54395439e-04 -5.82139242e+00] [ 3.64006407e-04 9.55413426e-04 9.99999477e-01 5.57799866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01165253199999 meters 0.16672213893437976 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.83, Z:0.56 [[ 9.99995881e-01 2.63012705e-03 -1.14884002e-03 -4.64723299e+00] [-2.63055117e-03 9.99996472e-01 -3.67821376e-04 -5.82503385e+00] [ 1.14786855e-03 3.70841944e-04 9.99999272e-01 5.57561799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04165253199999 meters 0.18332646179439277 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.83, Z:0.56 [[ 9.99995291e-01 2.59204407e-03 -1.64292742e-03 -4.64579561e+00] [-2.59182769e-03 9.99996632e-01 1.33819205e-04 -5.82792732e+00] [ 1.64326875e-03 -1.29560390e-04 9.99998641e-01 5.57305869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07165253199999 meters 0.16893265620498277 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.83, Z:0.56 [[ 9.99994809e-01 2.71312821e-03 -1.73835811e-03 -4.64548857e+00] [-2.71225492e-03 9.99996195e-01 5.04523991e-04 -5.82943798e+00] [ 1.73972033e-03 -4.99806501e-04 9.99998362e-01 5.57264376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10165253199999 meters 0.17980034098619782 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.83, Z:0.56 [[ 9.99995120e-01 2.78223489e-03 -1.42094268e-03 -4.64587240e+00] [-2.78146944e-03 9.99995986e-01 5.40382748e-04 -5.82989231e+00] [ 1.42244045e-03 -5.36427802e-04 9.99998844e-01 5.56624374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13165253199999 meters 0.18320437685797442 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.56 [[ 9.99994916e-01 2.35444701e-03 -2.15027365e-03 -4.64335785e+00] [-2.35308217e-03 9.99997029e-01 6.37039056e-04 -5.83251949e+00] [ 2.15176713e-03 -6.31976047e-04 9.99997485e-01 5.55443067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16165253199999 meters 0.17942348409538308 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.83, Z:0.56 [[ 9.99994424e-01 2.38447556e-03 -2.33817788e-03 -4.64268844e+00] [-2.38231450e-03 9.99996733e-01 9.26599436e-04 -5.83402855e+00] [ 2.34037970e-03 -9.21023994e-04 9.99996837e-01 5.55173028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19165253199999 meters 0.1773905682983131 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99993581e-01 2.21909458e-03 -2.81307203e-03 -4.64085103e+00] [-2.21555523e-03 9.99996751e-01 1.26067399e-03 -5.83715020e+00] [ 2.81586045e-03 -1.25443338e-03 9.99995249e-01 5.54176287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221652532 meters 0.1884560673937273 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99992718e-01 2.11621766e-03 -3.17588476e-03 -4.63957177e+00] [-2.11114484e-03 9.99996492e-01 1.59979713e-03 -5.83946006e+00] [ 3.17925914e-03 -1.59308073e-03 9.99993677e-01 5.53630479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251652532 meters 0.17323880065917235 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99991620e-01 2.01169832e-03 -3.56554241e-03 -4.63824204e+00] [-2.00480905e-03 9.99996119e-01 1.93470226e-03 -5.84169469e+00] [ 3.56942060e-03 -1.92753781e-03 9.99991772e-01 5.53117738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281652532 meters 0.16557819898456455 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.84, Z:0.55 [[ 9.99989574e-01 -2.53044002e-03 -3.80109293e-03 -4.63678218e+00] [ 2.52208033e-03 9.99994394e-01 -2.20247089e-03 -5.84388662e+00] [ 3.80664484e-03 2.19286126e-03 9.99990350e-01 5.51749419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311652532 meters 0.1639962338687996 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.85, Z:0.55 [[ 9.99989819e-01 -2.26781018e-03 -3.90125268e-03 -4.63683488e+00] [ 2.26190734e-03 9.99996292e-01 -1.51680939e-03 -5.84580807e+00] [ 3.90467805e-03 1.50796967e-03 9.99991240e-01 5.52270686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34165253199998 meters 0.1823723388838241 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.85, Z:0.55 [[ 9.99989574e-01 -2.19488301e-03 -4.00426005e-03 -4.63642583e+00] [ 2.19037282e-03 9.99996962e-01 -1.13038723e-03 -5.84751303e+00] [ 4.00672895e-03 1.12160462e-03 9.99991344e-01 5.52059020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37165253199998 meters 0.1827300339919028 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.85, Z:0.55 [[ 9.99988869e-01 -1.91281911e-03 -4.31308859e-03 -4.63596462e+00] [ 1.91218065e-03 9.99998160e-01 -1.52148188e-04 -5.85087653e+00] [ 4.31337168e-03 1.43899089e-04 9.99990687e-01 5.52635620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40165253199999 meters 0.1532220696687742 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99969064e-01 -5.96779494e-03 -5.12413160e-03 -4.63430193e+00] [ 5.95620306e-03 9.99979675e-01 -2.27450148e-03 -5.85857202e+00] [ 5.13760121e-03 2.24391075e-03 9.99984285e-01 5.53909723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43165253199999 meters 0.1557296557895147 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99969905e-01 -5.68224100e-03 -5.28207263e-03 -4.63405467e+00] [ 5.67442613e-03 9.99982785e-01 -1.49331908e-03 -5.86124321e+00] [ 5.29046710e-03 1.46330141e-03 9.99984935e-01 5.54173045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46165253199999 meters 0.15528243535000213 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99971039e-01 -5.50301202e-03 -5.25712635e-03 -4.63413101e+00] [ 5.49736223e-03 9.99984297e-01 -1.08853902e-03 -5.86259583e+00] [ 5.26303404e-03 1.05960717e-03 9.99985589e-01 5.54173640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49165253199999 meters 0.15167326455643798 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.86, Z:0.55 [[ 9.99971537e-01 -5.30342294e-03 -5.36639767e-03 -4.63401250e+00] [ 5.30109058e-03 9.99985848e-01 -4.48754339e-04 -5.86465804e+00] [ 5.36870166e-03 4.20293806e-04 9.99985500e-01 5.54452685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52165253199999 meters 0.1509885327368437 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.55 [[ 9.99969548e-01 -5.12862363e-03 -5.88223058e-03 -4.63274729e+00] [ 5.13310225e-03 9.99986547e-01 7.46536818e-04 -5.86947754e+00] [ 5.87832274e-03 -7.76708175e-04 9.99982421e-01 5.54617603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55165253199999 meters 0.14498160886174527 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.87, Z:0.56 [[ 9.99971616e-01 -4.74237847e-03 -5.85458483e-03 -4.63305585e+00] [ 4.75101725e-03 9.99987644e-01 1.46253448e-03 -5.87180887e+00] [ 5.84757660e-03 -1.49030821e-03 9.99981792e-01 5.55027943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58165253199999 meters 0.1478490341982426 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.88, Z:0.56 [[ 9.99972072e-01 -4.40384098e-03 -6.03838042e-03 -4.63271221e+00] [ 4.41878054e-03 9.99987204e-01 2.46299632e-03 -5.87587595e+00] [ 6.02745651e-03 -2.48960981e-03 9.99978736e-01 5.55350098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611652532 meters 0.1448639308611464 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.88, Z:0.56 [[ 9.99968736e-01 -4.14754866e-03 -6.73230938e-03 -4.63134677e+00] [ 4.17498386e-03 9.99983017e-01 4.06622964e-03 -5.88245966e+00] [ 6.71533016e-03 -4.09420980e-03 9.99969070e-01 5.56200220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641652532 meters 0.1431838441552095 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.88, Z:0.56 [[ 9.99967034e-01 -4.15474010e-03 -6.97629444e-03 -4.63058420e+00] [ 4.18623236e-03 9.99981087e-01 4.50566256e-03 -5.88460877e+00] [ 6.95744264e-03 -4.53471842e-03 9.99965515e-01 5.56017736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671652532 meters 0.14006044513568433 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.89, Z:0.56 [[ 9.99967631e-01 -4.00763038e-03 -6.97676883e-03 -4.63042343e+00] [ 4.04192891e-03 9.99979782e-01 4.90896545e-03 -5.88641455e+00] [ 6.95695445e-03 -4.93700615e-03 9.99963613e-01 5.55762547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701652532 meters 0.1434381162787536 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.89, Z:0.56 [[ 9.99971460e-01 -3.61977937e-03 -6.63152466e-03 -4.63122157e+00] [ 3.65596775e-03 9.99978449e-01 5.45305095e-03 -5.88851698e+00] [ 6.61164290e-03 -5.47713996e-03 9.99963143e-01 5.55617181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73165253199998 meters 0.1394698738900522 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.89, Z:0.56 [[ 9.99952702e-01 -7.40592907e-03 -6.30440277e-03 -4.63251943e+00] [ 7.41861383e-03 9.99970500e-01 1.99104490e-03 -5.89074846e+00] [ 6.28947125e-03 -2.03772066e-03 9.99978145e-01 5.56458041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76165253199999 meters 0.1500465889163862 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.89, Z:0.56 [[ 9.99954716e-01 -6.96392896e-03 -6.48608608e-03 -4.63259191e+00] [ 6.98433900e-03 9.99970712e-01 3.12942528e-03 -5.89436385e+00] [ 6.46410303e-03 -3.17458459e-03 9.99974068e-01 5.57437608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79165253199999 meters 0.1337812814365424 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99957913e-01 -6.79878061e-03 -6.16025704e-03 -4.63293353e+00] [ 6.81882948e-03 9.99971504e-01 3.23941380e-03 -5.89541192e+00] [ 6.13805744e-03 -3.28128320e-03 9.99975778e-01 5.56513182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82165253199999 meters 0.13095536958460052 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99957060e-01 -6.73344704e-03 -6.36707321e-03 -4.63234344e+00] [ 6.75772086e-03 9.99969951e-01 3.79860095e-03 -5.89786060e+00] [ 6.34130421e-03 -3.84146474e-03 9.99972515e-01 5.56449858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85165253199999 meters 0.13326578000670355 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99952672e-01 -6.98052579e-03 -6.77691789e-03 -4.63057491e+00] [ 7.00787816e-03 9.99967361e-01 4.02078671e-03 -5.90057040e+00] [ 6.74862949e-03 -4.06808823e-03 9.99968953e-01 5.55281788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88165253199999 meters 0.13139541186769257 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99952745e-01 -6.83886337e-03 -6.90926812e-03 -4.63032577e+00] [ 6.86995025e-03 9.99966341e-01 4.48563038e-03 -5.90241115e+00] [ 6.87835895e-03 -4.53288474e-03 9.99966070e-01 5.55479846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91165253199999 meters 0.13400884224211773 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99953966e-01 -6.74407231e-03 -6.82520938e-03 -4.63050688e+00] [ 6.77574280e-03 9.99966336e-01 4.62778548e-03 -5.90299877e+00] [ 6.79376949e-03 -4.67381831e-03 9.99965999e-01 5.55399018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94165253199999 meters 0.1417797448319303 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.55 [[ 9.99955356e-01 -6.79648897e-03 -6.56457004e-03 -4.63096529e+00] [ 6.82480180e-03 9.99967464e-01 4.30024778e-03 -5.90194543e+00] [ 6.53512987e-03 -4.34485769e-03 9.99969207e-01 5.54953883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971652532 meters 0.13473559473866192 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.55 [[ 9.99958172e-01 -6.76405326e-03 -6.15644473e-03 -4.63200335e+00] [ 6.78824531e-03 9.99969287e-01 3.91717243e-03 -5.90016332e+00] [ 6.12975969e-03 -3.95880004e-03 9.99973377e-01 5.54790583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001652532 meters 0.13983893489532417 Centerline is valid? [False, False] Translation: X:-4.63, Y:-5.90, Z:0.56 [[ 9.99965995e-01 -6.27542094e-03 -5.35058081e-03 -4.63441642e+00] [ 6.29618821e-03 9.99972677e-01 3.87334193e-03 -5.89900274e+00] [ 5.32612777e-03 -3.90689848e-03 9.99978184e-01 5.55154028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031652532 meters 0.1425869093599397 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99968601e-01 -5.95670575e-03 -5.22634712e-03 -4.63505567e+00] [ 5.97924123e-03 9.99972849e-01 4.30692040e-03 -5.90022670e+00] [ 5.20055017e-03 -4.33803476e-03 9.99977068e-01 5.55697674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061652532 meters 0.136388572048285 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99973154e-01 -5.26502614e-03 -5.09613707e-03 -4.63604710e+00] [ 5.29231605e-03 9.99971650e-01 5.35642940e-03 -5.90357780e+00] [ 5.06779085e-03 -5.38325597e-03 9.99972669e-01 5.56714472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09165253199998 meters 0.1396966186038824 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99973842e-01 -5.33127307e-03 -4.88810185e-03 -4.63633827e+00] [ 5.35611696e-03 9.99972734e-01 5.08359875e-03 -5.90280934e+00] [ 4.86086652e-03 -5.10964702e-03 9.99975131e-01 5.56257763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12165253199998 meters 0.13934592424735498 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99974170e-01 -5.45460469e-03 -4.68053647e-03 -4.63659905e+00] [ 5.47669721e-03 9.99973862e-01 4.72031977e-03 -5.90162531e+00] [ 4.65466665e-03 -4.74583172e-03 9.99977905e-01 5.55736952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15165253199999 meters 0.13413540222291687 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99974009e-01 -5.58446574e-03 -4.56019099e-03 -4.63665125e+00] [ 5.60463712e-03 9.99974514e-01 4.42262853e-03 -5.90084221e+00] [ 4.53537675e-03 -4.44807180e-03 9.99979822e-01 5.55264458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18165253199999 meters 0.1330856523096434 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99975215e-01 -5.38723327e-03 -4.53292826e-03 -4.63705183e+00] [ 5.40917520e-03 9.99973646e-01 4.84230904e-03 -5.90188976e+00] [ 4.50672215e-03 -4.86670843e-03 9.99978002e-01 5.55852032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21165253199999 meters 0.13350378288415282 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99975894e-01 -5.30556522e-03 -4.47901183e-03 -4.63724096e+00] [ 5.32770400e-03 9.99973579e-01 4.94540599e-03 -5.90225982e+00] [ 4.45265532e-03 -4.96914963e-03 9.99977740e-01 5.55925033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24165253199999 meters 0.13347193049827802 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99978698e-01 -5.20499130e-03 -3.93835617e-03 -4.63865007e+00] [ 5.22278336e-03 9.99976142e-01 4.52091805e-03 -5.90021330e+00] [ 3.91473087e-03 -4.54139093e-03 9.99982025e-01 5.55843365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27165253199999 meters 0.12828747125806506 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99979463e-01 -5.10479608e-03 -3.87475247e-03 -4.63887658e+00] [ 5.12295041e-03 9.99975880e-01 4.68991103e-03 -5.90080741e+00] [ 3.85071797e-03 -4.70966488e-03 9.99981495e-01 5.55959019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30165253199999 meters 0.1349481325211864 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99980521e-01 -4.96738498e-03 -3.77935292e-03 -4.63926869e+00] [ 4.98567270e-03 9.99975835e-01 4.84491464e-03 -5.90120887e+00] [ 3.75519503e-03 -4.86366288e-03 9.99981121e-01 5.56184281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33165253199999 meters 0.13513684978004 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99982716e-01 -4.73675252e-03 -3.48305505e-03 -4.64026987e+00] [ 4.75380180e-03 9.99976681e-01 4.90304214e-03 -5.90105920e+00] [ 3.45974933e-03 -4.91951514e-03 9.99981914e-01 5.56497625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361652532 meters 0.13453200081444652 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99983612e-01 -4.74303633e-03 -3.20611562e-03 -4.64079878e+00] [ 4.75791380e-03 9.99977875e-01 4.64875030e-03 -5.90027000e+00] [ 3.18399550e-03 -4.66392854e-03 9.99984055e-01 5.56114203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391652532 meters 0.13381986308399693 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99983952e-01 -4.88393405e-03 -2.87100264e-03 -4.64123799e+00] [ 4.89550865e-03 9.99979862e-01 4.03844711e-03 -5.89838680e+00] [ 2.85122131e-03 -4.05243732e-03 9.99987724e-01 5.55289085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421652532 meters 0.13588363873189105 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.55 [[ 9.99984471e-01 -4.99940699e-03 -2.46228661e-03 -4.64190395e+00] [ 5.00776392e-03 9.99981682e-01 3.39958192e-03 -5.89623642e+00] [ 2.44524561e-03 -3.41185968e-03 9.99991190e-01 5.54519017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451652532 meters 0.13284858623333723 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99986538e-01 -4.67151906e-03 -2.25842613e-03 -4.64287471e+00] [ 4.68009403e-03 9.99981803e-01 3.80661929e-03 -5.89721377e+00] [ 2.24060234e-03 -3.81713769e-03 9.99990205e-01 5.55241683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48165253199998 meters 0.132306448583435 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99988119e-01 -4.30697850e-03 -2.28272627e-03 -4.64337492e+00] [ 4.31713283e-03 9.99980725e-01 4.46223292e-03 -5.89902524e+00] [ 2.26346353e-03 -4.47203474e-03 9.99987439e-01 5.56213564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51165253199999 meters 0.13815100385361193 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.90, Z:0.56 [[ 9.99989423e-01 -4.13341758e-03 -2.01720732e-03 -4.64420692e+00] [ 4.14247596e-03 9.99981262e-01 4.50722872e-03 -5.89883142e+00] [ 1.99853926e-03 -4.51553727e-03 9.99987808e-01 5.56397042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54165253199999 meters 0.14046212980858816 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99992579e-01 -3.83188019e-03 -3.97102684e-04 -4.64750840e+00] [ 3.83284012e-03 9.99989665e-01 2.44544846e-03 -5.89232106e+00] [ 3.87727915e-04 -2.44695235e-03 9.99996931e-01 5.53642650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57165253199999 meters 0.1389430890134071 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99992703e-01 -3.81791152e-03 -1.35834176e-04 -4.64818563e+00] [ 3.81820978e-03 9.99990139e-01 2.26780619e-03 -5.89147365e+00] [ 1.27174553e-04 -2.26830829e-03 9.99997419e-01 5.53582039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60165253199999 meters 0.1401440505229235 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993302e-01 -3.65715154e-03 1.48680015e-04 -4.64916376e+00] [ 3.65680690e-03 9.99990770e-01 2.25568410e-03 -5.89086006e+00] [-1.56928022e-04 -2.25512530e-03 9.99997445e-01 5.53919527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63165253199999 meters 0.13911594538770083 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993976e-01 -3.42564011e-03 5.58782740e-04 -4.65040226e+00] [ 3.42440329e-03 9.99991718e-01 2.19955862e-03 -5.89024134e+00] [-5.66313009e-04 -2.19763187e-03 9.99997425e-01 5.54176382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66165253199999 meters 0.15303421968515818 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99994436e-01 -3.24959376e-03 7.53809514e-04 -4.65118090e+00] [ 3.24787772e-03 9.99992157e-01 2.26665251e-03 -5.89028343e+00] [-7.61169302e-04 -2.26419162e-03 9.99997147e-01 5.54623045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69165253199999 meters 0.1458856889402869 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99994526e-01 -3.13563255e-03 1.05658255e-03 -4.65218985e+00] [ 3.13335909e-03 9.99992787e-01 2.14653590e-03 -5.88919144e+00] [-1.06330568e-03 -2.14321350e-03 9.99997138e-01 5.54926512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721652532 meters 0.13908762757991772 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993462e-01 -3.36146576e-03 1.33276473e-03 -4.65255534e+00] [ 3.35943161e-03 9.99993193e-01 1.52557108e-03 -5.88717739e+00] [-1.33788381e-03 -1.52108377e-03 9.99997948e-01 5.54335106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751652532 meters 0.15356915530785012 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993673e-01 -3.23206893e-03 1.48607271e-03 -4.65329273e+00] [ 3.22967487e-03 9.99993488e-01 1.61058293e-03 -5.88679477e+00] [-1.49126854e-03 -1.60577321e-03 9.99997599e-01 5.54865737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781652532 meters 0.15356915530785012 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993673e-01 -3.23206893e-03 1.48607271e-03 -4.65329273e+00] [ 3.22967487e-03 9.99993488e-01 1.61058293e-03 -5.88679477e+00] [-1.49126854e-03 -1.60577321e-03 9.99997599e-01 5.54865737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811652532 meters 0.1416195566437759 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.89, Z:0.55 [[ 9.99993363e-01 -3.10268190e-03 1.90972571e-03 -4.65446533e+00] [ 3.10002093e-03 9.99994222e-01 1.39476428e-03 -5.88537702e+00] [-1.91404219e-03 -1.38883483e-03 9.99997204e-01 5.54924570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84165253199998 meters 0.1387256680922293 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.55 [[ 9.99992596e-01 -3.05678381e-03 2.33740895e-03 -4.65553585e+00] [ 3.05437395e-03 9.99994801e-01 1.03386824e-03 -5.88355645e+00] [-2.34055711e-03 -1.02672127e-03 9.99996734e-01 5.54845085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87165253199998 meters 0.148164203577987 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99992761e-01 -3.04012524e-03 2.28817807e-03 -4.65555726e+00] [ 3.03754346e-03 9.99994747e-01 1.13094372e-03 -5.88383020e+00] [-2.29160426e-03 -1.12398509e-03 9.99996743e-01 5.55124371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90165253199999 meters 0.1400178485403076 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99992798e-01 -2.85190097e-03 2.50423009e-03 -4.65652327e+00] [ 2.84884290e-03 9.99995193e-01 1.22388027e-03 -5.88337369e+00] [-2.50770843e-03 -1.21673729e-03 9.99996115e-01 5.55769610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93165253199999 meters 0.14629463327960282 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99991922e-01 -2.84825051e-03 2.83602528e-03 -4.65750901e+00] [ 2.84588372e-03 9.99995599e-01 8.38230982e-04 -5.88136480e+00] [-2.83840029e-03 -8.30153213e-04 9.99995627e-01 5.55980923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96165253199999 meters 0.1425632205675004 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99992629e-01 -2.67419004e-03 2.75497599e-03 -4.65781172e+00] [ 2.67069757e-03 9.99995626e-01 1.27059748e-03 -5.88227976e+00] [-2.75836176e-03 -1.26323041e-03 9.99995398e-01 5.56896303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99165253199999 meters 0.14215464447690854 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99993110e-01 -2.69277826e-03 2.55500392e-03 -4.65738861e+00] [ 2.68903736e-03 9.99995309e-01 1.46645357e-03 -5.88306830e+00] [-2.55894077e-03 -1.45957296e-03 9.99995661e-01 5.57099478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02165253199999 meters 0.1385548713194556 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99993760e-01 -2.48757319e-03 2.50841196e-03 -4.65758175e+00] [ 2.48279654e-03 9.99995102e-01 1.90557377e-03 -5.88416280e+00] [-2.51313993e-03 -1.89933400e-03 9.99995038e-01 5.57627011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05165253199999 meters 0.14656291536738858 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99992163e-01 -2.66229215e-03 2.93006774e-03 -4.65847222e+00] [ 2.65892861e-03 9.99995802e-01 1.15123661e-03 -5.88081038e+00] [-2.93312037e-03 -1.14343675e-03 9.99995045e-01 5.57210292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08165253199999 meters 0.14858420810787462 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99990295e-01 -2.76047049e-03 3.43364091e-03 -4.65948365e+00] [ 2.75917913e-03 9.99996121e-01 3.80770756e-04 -5.87777080e+00] [-3.43467870e-03 -3.71293030e-04 9.99994033e-01 5.56683021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111652532 meters 0.14277770201236303 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.87, Z:0.56 [[ 9.99987793e-01 -2.71850571e-03 4.12596013e-03 -4.66100331e+00] [ 2.71995537e-03 9.99996241e-01 -3.45779452e-04 -5.87458559e+00] [-4.12500462e-03 3.56997659e-04 9.99991428e-01 5.56277234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141652532 meters 0.15430469831610544 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99988386e-01 -2.25945769e-03 4.25714823e-03 -4.66219824e+00] [ 2.25783791e-03 9.99997377e-01 3.85252389e-04 -5.87587448e+00] [-4.25800753e-03 -3.75635963e-04 9.99990864e-01 5.57787904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171652532 meters 0.152115427926989 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99988642e-01 -1.92874898e-03 4.35845545e-03 -4.66309868e+00] [ 1.92508176e-03 9.99997790e-01 8.45443193e-04 -5.87652219e+00] [-4.36007647e-03 -8.37043207e-04 9.99990144e-01 5.58865276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201652532 meters 0.15539370176064 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99988468e-01 -1.91381013e-03 4.40460577e-03 -4.66310949e+00] [ 1.90996860e-03 9.99997792e-01 8.76203157e-04 -5.87683539e+00] [-4.40627294e-03 -8.67780394e-04 9.99989916e-01 5.58737338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23165253199998 meters 0.17256688052065472 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99989232e-01 -1.96314293e-03 4.20501992e-03 -4.66247129e+00] [ 1.95901120e-03 9.99997595e-01 9.86465026e-04 -5.87756490e+00] [-4.20694638e-03 -9.78216722e-04 9.99990672e-01 5.58519410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26165253199999 meters 0.1515583534105612 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99989120e-01 -1.81720334e-03 4.29629138e-03 -4.66284454e+00] [ 1.81194140e-03 9.99997604e-01 1.22833842e-03 -5.87806160e+00] [-4.29851323e-03 -1.22054043e-03 9.99990016e-01 5.58741295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29165253199999 meters 0.17082602615314763 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99989242e-01 -1.78888024e-03 4.27967822e-03 -4.66296650e+00] [ 1.78321836e-03 9.99997530e-01 1.32641976e-03 -5.87812844e+00] [-4.28204046e-03 -1.31877389e-03 9.99989962e-01 5.58994016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32165253199999 meters 0.16820337418324985 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99989106e-01 -1.67321015e-03 4.35758029e-03 -4.66338553e+00] [ 1.66666843e-03 9.99997479e-01 1.50442687e-03 -5.87832416e+00] [-4.36008653e-03 -1.49714784e-03 9.99989374e-01 5.59355134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35165253199999 meters 0.13915563225370278 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99989447e-01 -1.68765307e-03 4.27292346e-03 -4.66303334e+00] [ 1.68082397e-03 9.99997305e-01 1.60131335e-03 -5.87905638e+00] [-4.27561440e-03 -1.59411442e-03 9.99989589e-01 5.59181128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38165253199999 meters 0.1458253989730368 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99991176e-01 -1.57377029e-03 3.89500585e-03 -4.66211075e+00] [ 1.56481851e-03 9.99996130e-01 2.30025301e-03 -5.88227153e+00] [-3.89861085e-03 -2.29413774e-03 9.99989769e-01 5.59378989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41165253199999 meters 0.1587889363370782 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99992707e-01 -1.51055542e-03 3.50763454e-03 -4.66121103e+00] [ 1.50047383e-03 9.99994741e-01 2.87504084e-03 -5.88478066e+00] [-3.51195900e-03 -2.86975676e-03 9.99989715e-01 5.59641639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44165253199999 meters 0.15547446504504006 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99992799e-01 -1.45842928e-03 3.50350420e-03 -4.66115307e+00] [ 1.44786142e-03 9.99994401e-01 3.01701387e-03 -5.88547822e+00] [-3.50788469e-03 -3.01191955e-03 9.99989311e-01 5.59600506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471652532 meters 0.16203344986499768 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99991565e-01 -1.63722001e-03 3.76683072e-03 -4.66137691e+00] [ 1.62781205e-03 9.99995552e-01 2.49929384e-03 -5.88407695e+00] [-3.77090586e-03 -2.49314107e-03 9.99989782e-01 5.58790676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501652532 meters 0.1531744298761588 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99992430e-01 -1.72113327e-03 3.48951637e-03 -4.66048944e+00] [ 1.71136652e-03 9.99994616e-01 2.79994012e-03 -5.88574035e+00] [-3.49431665e-03 -2.79394708e-03 9.99989992e-01 5.58607837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531652532 meters 0.14999790876961602 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99993859e-01 -1.85992971e-03 2.97044869e-03 -4.65905614e+00] [ 1.85027118e-03 9.99993004e-01 3.25098591e-03 -5.88811481e+00] [-2.97647451e-03 -3.24546981e-03 9.99990304e-01 5.58483554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561652532 meters 0.14659752902128007 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99994822e-01 -1.69241269e-03 2.73705261e-03 -4.65856938e+00] [ 1.68189906e-03 9.99991217e-01 3.83897359e-03 -5.89046696e+00] [-2.74352570e-03 -3.83435026e-03 9.99988885e-01 5.58827887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59165253199998 meters 0.14701379912622461 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99994019e-01 -1.81813236e-03 2.94208614e-03 -4.65875412e+00] [ 1.80786539e-03 9.99992281e-01 3.48859383e-03 -5.88964114e+00] [-2.94840615e-03 -3.48325407e-03 9.99989587e-01 5.58251000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62165253199998 meters 0.1446772685675436 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99994271e-01 -1.89532216e-03 2.80447177e-03 -4.65810008e+00] [ 1.88532211e-03 9.99991871e-01 3.56410863e-03 -5.89053179e+00] [-2.81120410e-03 -3.55880088e-03 9.99989716e-01 5.57794467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65165253199999 meters 0.14526944140118453 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99993645e-01 -2.17866190e-03 2.82205938e-03 -4.65758515e+00] [ 2.17001015e-03 9.99992948e-01 3.06519794e-03 -5.88962386e+00] [-2.82871751e-03 -3.05905456e-03 9.99991320e-01 5.56822867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68165253199999 meters 0.1490164825862587 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99992362e-01 -2.33820125e-03 3.13202137e-03 -4.65815260e+00] [ 2.33046598e-03 9.99994231e-01 2.47111499e-03 -5.88761190e+00] [-3.13778127e-03 -2.46379705e-03 9.99992042e-01 5.56384013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71165253199999 meters 0.15044124000303769 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99991156e-01 -1.79392930e-03 3.80385837e-03 -4.66050214e+00] [ 1.78384602e-03 9.99994891e-01 2.65254028e-03 -5.88696711e+00] [-3.80859740e-03 -2.64573133e-03 9.99989247e-01 5.57644597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74165253199999 meters 0.15217916494861192 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990608e-01 -1.60899540e-03 4.02435970e-03 -4.66131758e+00] [ 1.59781882e-03 9.99994862e-01 2.77890594e-03 -5.88696043e+00] [-4.02881027e-03 -2.77244965e-03 9.99988041e-01 5.58084335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77165253199999 meters 0.14995092048841316 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990920e-01 -1.44466708e-03 4.00912727e-03 -4.66164946e+00] [ 1.43243954e-03 9.99994319e-01 3.05112203e-03 -5.88764692e+00] [-4.01351235e-03 -3.04535149e-03 9.99987309e-01 5.58768256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80165253199999 meters 0.14901459454829144 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99991063e-01 -1.37657267e-03 3.99734417e-03 -4.66187098e+00] [ 1.36384349e-03 9.99993997e-01 3.18539035e-03 -5.88782035e+00] [-4.00170509e-03 -3.17991013e-03 9.99986937e-01 5.59217252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83165253199999 meters 0.14898686587629983 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99989984e-01 -1.47552923e-03 4.22549628e-03 -4.66238751e+00] [ 1.46357620e-03 9.99994923e-01 2.83048424e-03 -5.88644446e+00] [-4.22965129e-03 -2.82427155e-03 9.99987067e-01 5.59074024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861652532 meters 0.14897672137472212 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99989704e-01 -1.57723884e-03 4.25501363e-03 -4.66236572e+00] [ 1.56577129e-03 9.99995137e-01 2.69705490e-03 -5.88612398e+00] [-4.25924683e-03 -2.69036475e-03 9.99987310e-01 5.58929888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891652532 meters 0.14996233510388896 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990752e-01 -1.68715750e-03 3.95592985e-03 -4.66150443e+00] [ 1.67587637e-03 9.99994525e-01 2.85328498e-03 -5.88719892e+00] [-3.96072213e-03 -2.84662894e-03 9.99988105e-01 5.58833112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921652532 meters 0.149117820020488 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990949e-01 -1.71583985e-03 3.89330507e-03 -4.66117599e+00] [ 1.70452837e-03 9.99994322e-01 2.90682820e-03 -5.88777946e+00] [-3.89827062e-03 -2.90016564e-03 9.99988196e-01 5.58591111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951652532 meters 0.14327063142713023 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990977e-01 -1.63390926e-03 3.92131553e-03 -4.66150183e+00] [ 1.62205490e-03 9.99994111e-01 3.02433708e-03 -5.88775147e+00] [-3.92623394e-03 -3.01794920e-03 9.99987738e-01 5.58990413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98165253199998 meters 0.16148745375326584 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99989924e-01 -1.83960460e-03 4.09475725e-03 -4.66161657e+00] [ 1.82924093e-03 9.99995118e-01 2.53326818e-03 -5.88635305e+00] [-4.09939748e-03 -2.52575235e-03 9.99988408e-01 5.58418101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01165253199999 meters 0.14650255134470896 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99989766e-01 -2.00449511e-03 4.05581874e-03 -4.66144007e+00] [ 1.99501359e-03 9.99995271e-01 2.34045306e-03 -5.88584982e+00] [-4.06049099e-03 -2.33233770e-03 9.99989036e-01 5.58316466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04165253199999 meters 0.15312897643245424 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990128e-01 -1.94527090e-03 3.99489680e-03 -4.66151529e+00] [ 1.93535480e-03 9.99995041e-01 2.48456018e-03 -5.88611050e+00] [-3.99971013e-03 -2.47680411e-03 9.99988934e-01 5.58723488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07165253199999 meters 0.14425762908676582 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99990033e-01 -1.89531720e-03 4.04248557e-03 -4.66185735e+00] [ 1.88520479e-03 9.99995088e-01 2.50387663e-03 -5.88591579e+00] [-4.04721136e-03 -2.49623076e-03 9.99988694e-01 5.59088852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10165253199999 meters 0.14760212026176298 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99988485e-01 -1.87823977e-03 4.41609372e-03 -4.66294318e+00] [ 1.86882904e-03 9.99995976e-01 2.13417010e-03 -5.88408569e+00] [-4.42008443e-03 -2.12589260e-03 9.99987972e-01 5.59313637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13165253199999 meters 0.1487772228361773 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99987502e-01 -2.08994277e-03 4.54186305e-03 -4.66302588e+00] [ 2.08252764e-03 9.99996492e-01 1.63673434e-03 -5.88260123e+00] [-4.54526780e-03 -1.62725533e-03 9.99988346e-01 5.58879393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16165253199999 meters 0.15285210420497244 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99987003e-01 -2.06137605e-03 4.66305058e-03 -4.66351345e+00] [ 2.05409501e-03 9.99996665e-01 1.56568406e-03 -5.88200134e+00] [-4.66626249e-03 -1.55608536e-03 9.99987902e-01 5.59154998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19165253199999 meters 0.1517839362594241 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99986917e-01 -1.99397636e-03 4.71062307e-03 -4.66396887e+00] [ 1.98632634e-03 9.99996702e-01 1.62811464e-03 -5.88165167e+00] [-4.71385395e-03 -1.61873651e-03 9.99987580e-01 5.59688074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221652532 meters 0.1599551337647337 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99985005e-01 -1.97293143e-03 5.10859977e-03 -4.66524895e+00] [ 1.96670314e-03 9.99997317e-01 1.22391478e-03 -5.87955538e+00] [-5.11100076e-03 -1.21384933e-03 9.99986202e-01 5.60199866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251652532 meters 0.16078406165370215 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99986024e-01 -1.77178585e-03 4.98121661e-03 -4.66545368e+00] [ 1.76353981e-03 9.99997068e-01 1.65933375e-03 -5.88045788e+00] [-4.98414199e-03 -1.65052598e-03 9.99986217e-01 5.61085408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281652532 meters 0.15298343536010403 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99985905e-01 -1.90734427e-03 4.95496145e-03 -4.66542463e+00] [ 1.90014016e-03 9.99997132e-01 1.45821949e-03 -5.87967219e+00] [-4.95772856e-03 -1.44878381e-03 9.99986661e-01 5.61123261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311652532 meters 0.15175215967031772 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99986115e-01 -2.05556882e-03 4.85221191e-03 -4.66528271e+00] [ 2.04909294e-03 9.99997004e-01 1.33921796e-03 -5.87897905e+00] [-4.85495022e-03 -1.32925673e-03 9.99987331e-01 5.61297942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34165253199998 meters 0.14321789828322415 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99987189e-01 -2.34546185e-03 4.48555972e-03 -4.66399765e+00] [ 2.34017594e-03 9.99996562e-01 1.18331254e-03 -5.87930237e+00] [-4.48831971e-03 -1.17280038e-03 9.99989240e-01 5.60723662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37165253199998 meters 0.14934019042503222 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99988102e-01 -2.45801716e-03 4.21349851e-03 -4.66317883e+00] [ 2.45281768e-03 9.99996225e-01 1.23872911e-03 -5.87994423e+00] [-4.21652742e-03 -1.22837943e-03 9.99990356e-01 5.60543384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40165253199999 meters 0.1461912613525168 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.88, Z:0.56 [[ 9.99986087e-01 -2.65111876e-03 4.56047812e-03 -4.66394805e+00] [ 2.64938491e-03 9.99996416e-01 3.86189512e-04 -5.87649507e+00] [-4.56148561e-03 -3.74101677e-04 9.99989526e-01 5.60251628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43165253199999 meters 0.15276461441569963 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99982859e-01 -2.53727366e-03 5.27665027e-03 -4.66594413e+00] [ 2.53879938e-03 9.99996737e-01 -2.82468243e-04 -5.87271611e+00] [-5.27591636e-03 2.95859758e-04 9.99986038e-01 5.60599965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46165253199999 meters 0.15660445383438965 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99978208e-01 -2.09669143e-03 6.25999625e-03 -4.66884563e+00] [ 2.10119666e-03 9.99997538e-01 -7.13195725e-04 -5.86897437e+00] [-6.25848549e-03 7.26333666e-04 9.99980152e-01 5.61514197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49165253199999 meters 0.1563859933100458 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99976263e-01 -1.92890643e-03 6.61454502e-03 -4.67020421e+00] [ 1.93361129e-03 9.99997882e-01 -7.04967529e-04 -5.86823489e+00] [-6.61317119e-03 7.17740755e-04 9.99977875e-01 5.62408787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52165253199999 meters 0.15347486713361522 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99977637e-01 -1.33826199e-03 6.55250363e-03 -4.67117537e+00] [ 1.33696782e-03 9.99999086e-01 2.01884587e-04 -5.87015281e+00] [-6.55276781e-03 -1.93119586e-04 9.99978512e-01 5.64211508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55165253199999 meters 0.1777138802364403 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99975450e-01 -1.51366783e-03 6.84169600e-03 -4.67154669e+00] [ 1.51581930e-03 9.99998803e-01 -3.09289876e-04 -5.86866776e+00] [-6.84121965e-03 3.19653058e-04 9.99976547e-01 5.63638472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58165253199999 meters 0.17677273016662753 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99977117e-01 -1.15735187e-03 6.66525808e-03 -4.67158351e+00] [ 1.15416550e-03 9.99999218e-01 4.81883471e-04 -5.87104119e+00] [-6.66581058e-03 -4.74179633e-04 9.99977671e-01 5.64461264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611652532 meters 0.15877222290181842 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99976150e-01 -1.63960065e-03 6.70901118e-03 -4.67088980e+00] [ 1.64210076e-03 9.99998584e-01 -3.67158811e-04 -5.86894913e+00] [-6.70839969e-03 3.78166927e-04 9.99977427e-01 5.63099809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641652532 meters 0.15704994459830374 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99975044e-01 -1.59070238e-03 6.88339152e-03 -4.67148349e+00] [ 1.59315567e-03 9.99998669e-01 -3.50938374e-04 -5.86866449e+00] [-6.88282412e-03 3.61895930e-04 9.99976248e-01 5.63330936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671652532 meters 0.15354110528946338 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99976517e-01 -1.56382616e-03 6.67229577e-03 -4.67111875e+00] [ 1.56440345e-03 9.99998773e-01 -8.13016606e-05 -5.86958413e+00] [-6.67216045e-03 9.17379139e-05 9.99977737e-01 5.63636207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701652532 meters 0.15354110528946338 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99976517e-01 -1.56382616e-03 6.67229577e-03 -4.67111875e+00] [ 1.56440345e-03 9.99998773e-01 -8.13016606e-05 -5.86958413e+00] [-6.67216045e-03 9.17379139e-05 9.99977737e-01 5.63636207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73165253199998 meters 0.1583978548030632 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99976961e-01 -1.36293844e-03 6.64974115e-03 -4.67151884e+00] [ 1.36114563e-03 9.99999036e-01 2.74123922e-04 -5.87023080e+00] [-6.65010836e-03 -2.65066341e-04 9.99977853e-01 5.64385453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76165253199999 meters 0.16135222578438732 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.57 [[ 9.99977076e-01 -8.05637259e-04 6.72300521e-03 -4.67244696e+00] [ 7.97871151e-04 9.99999012e-01 1.15775650e-03 -5.87255498e+00] [-6.72393130e-03 -1.15236587e-03 9.99976730e-01 5.65597554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79165253199999 meters 0.16651603747324537 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.57 [[ 9.99977773e-01 -8.19862372e-04 6.61670060e-03 -4.67208477e+00] [ 8.11581829e-04 9.99998884e-01 1.25404910e-03 -5.87324306e+00] [-6.61772137e-03 -1.24865123e-03 9.99977323e-01 5.65487316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82165253199999 meters 0.16174394342552859 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.57 [[ 9.99978555e-01 -5.35390604e-04 6.52706092e-03 -4.67233706e+00] [ 5.23460947e-04 9.99998190e-01 1.82929411e-03 -5.87466862e+00] [-6.52802849e-03 -1.82583822e-03 9.99977025e-01 5.66295704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85165253199999 meters 0.1572082627154234 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99980375e-01 -5.23346822e-04 6.24304446e-03 -4.67162582e+00] [ 5.09408916e-04 9.99997375e-01 2.23393084e-03 -5.87661198e+00] [-6.24419719e-03 -2.23070674e-03 9.99978017e-01 5.66389050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88165253199999 meters 0.15814585415203003 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99980669e-01 -5.80202297e-04 6.19079390e-03 -4.67133597e+00] [ 5.66399581e-04 9.99997351e-01 2.23107544e-03 -5.87691038e+00] [-6.19207198e-03 -2.22752585e-03 9.99978348e-01 5.66158212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91165253199999 meters 0.1547949434031448 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99980957e-01 -5.96579286e-04 6.14241144e-03 -4.67112299e+00] [ 5.82375011e-04 9.99997153e-01 2.31402061e-03 -5.87742598e+00] [-6.14377445e-03 -2.31039935e-03 9.99978458e-01 5.66049594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94165253199999 meters 0.15025772183333647 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99981617e-01 -6.71826655e-04 6.02609289e-03 -4.67075649e+00] [ 6.57906406e-04 9.99997112e-01 2.31168056e-03 -5.87763623e+00] [-6.02762854e-03 -2.30767346e-03 9.99979171e-01 5.65937679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971652532 meters 0.15774245257369668 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99981264e-01 -8.10633371e-04 6.06746142e-03 -4.67052181e+00] [ 7.97876542e-04 9.99997467e-01 2.10462388e-03 -5.87741158e+00] [-6.06915213e-03 -2.09974336e-03 9.99979378e-01 5.65393701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001652532 meters 0.1606043863110876 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99966675e-01 -4.80960101e-03 6.59675332e-03 -4.67217152e+00] [ 4.82370520e-03 9.99986111e-01 -2.12380847e-03 -5.87670193e+00] [-6.58644703e-03 2.15555848e-03 9.99975986e-01 5.65895981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031652532 meters 0.15765462029669033 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99968354e-01 -4.51834138e-03 6.54799712e-03 -4.67247427e+00] [ 4.52861785e-03 9.99988536e-01 -1.55543089e-03 -5.87812565e+00] [-6.54089409e-03 1.58503505e-03 9.99977352e-01 5.66605714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061652532 meters 0.1585114433348462 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99966631e-01 -4.46073108e-03 6.84381308e-03 -4.67338040e+00] [ 4.47288368e-03 9.99988445e-01 -1.76142855e-03 -5.87677417e+00] [-6.83587674e-03 1.79198135e-03 9.99975029e-01 5.66803925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09165253199998 meters 0.1572012449941944 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99966955e-01 -4.12101335e-03 7.00761930e-03 -4.67438265e+00] [ 4.13015972e-03 9.99990637e-01 -1.29123256e-03 -5.87749068e+00] [-7.00223251e-03 1.32013248e-03 9.99974613e-01 5.67784184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12165253199998 meters 0.1535965972213607 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99969963e-01 -3.60967539e-03 6.85883986e-03 -4.67493919e+00] [ 3.61101633e-03 9.99993463e-01 -1.83130751e-04 -5.88012217e+00] [-6.85813398e-03 2.07892633e-04 9.99976461e-01 5.69481207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15165253199999 meters 0.15103562156130865 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99973237e-01 -3.40934915e-03 6.47315446e-03 -4.67441617e+00] [ 3.40543596e-03 9.99994012e-01 6.15451119e-04 -5.88274975e+00] [-6.47521398e-03 -5.93390734e-04 9.99978860e-01 5.70341499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18165253199999 meters 0.15844841984729055 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99974102e-01 -3.20323651e-03 6.44471328e-03 -4.67469634e+00] [ 3.19653603e-03 9.99994340e-01 1.04971752e-03 -5.88369308e+00] [-6.44803930e-03 -1.02908958e-03 9.99978682e-01 5.70934284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21165253199999 meters 0.14312806658738605 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99974878e-01 -3.36234346e-03 6.24000382e-03 -4.67400691e+00] [ 3.35606700e-03 9.99993852e-01 1.01604160e-03 -5.88395639e+00] [-6.24338173e-03 -9.95074205e-04 9.99980015e-01 5.70661761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24165253199999 meters 0.150254120413199 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99973560e-01 -3.71675768e-03 6.25026453e-03 -4.67367420e+00] [ 3.71462369e-03 9.99993038e-01 3.52998207e-04 -5.88173326e+00] [-6.25153303e-03 -3.29771493e-04 9.99980405e-01 5.69967421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27165253199999 meters 0.15366392152967406 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99970715e-01 -3.37575490e-03 6.86825359e-03 -4.67575635e+00] [ 3.37426668e-03 9.99994281e-01 2.28256873e-04 -5.87964598e+00] [-6.86898485e-03 -2.05074869e-04 9.99976387e-01 5.70706836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30165253199999 meters 0.1513325537168296 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99965225e-01 -3.05703380e-03 7.75912531e-03 -4.67824703e+00] [ 3.05949773e-03 9.99995273e-01 -3.05703381e-04 -5.87578040e+00] [-7.75815409e-03 3.29431776e-04 9.99969851e-01 5.71094075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33165253199999 meters 0.1629227848601588 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99967351e-01 1.14238405e-03 7.99946804e-03 -4.67899291e+00] [-1.17090082e-03 9.99992974e-01 3.56105730e-03 -5.87369522e+00] [-7.99534374e-03 -3.57030762e-03 9.99961663e-01 5.71296010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361652532 meters 0.16537872063260045 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99966440e-01 1.06762021e-03 8.12274849e-03 -4.67946690e+00] [-1.09369823e-03 9.99994260e-01 3.20672712e-03 -5.87214263e+00] [-8.11927830e-03 -3.21550334e-03 9.99961868e-01 5.71544284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391652532 meters 0.1629356860692535 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99964296e-01 1.30580069e-03 8.34874556e-03 -4.68057254e+00] [-1.33398177e-03 9.99993429e-01 3.37080965e-03 -5.87172794e+00] [-8.34428909e-03 -3.38182637e-03 9.99959467e-01 5.72426652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421652532 meters 0.16225011762931557 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99963916e-01 1.16259063e-03 8.41512220e-03 -4.68065894e+00] [-1.18791792e-03 9.99994778e-01 3.00536300e-03 -5.87054152e+00] [-8.41158426e-03 -3.01525103e-03 9.99960076e-01 5.72264244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451652532 meters 0.16221046318510865 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99961376e-01 9.89991066e-04 8.73308576e-03 -4.68132401e+00] [-1.01028472e-03 9.99996799e-01 2.31966126e-03 -5.86800672e+00] [-8.73076137e-03 -2.32839457e-03 9.99959175e-01 5.71966239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48165253199998 meters 0.1609017999044561 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956976e-01 6.52007917e-04 9.25321099e-03 -4.68232020e+00] [-6.62681472e-04 9.99999119e-01 1.15047822e-03 -5.86337191e+00] [-9.25245272e-03 -1.15656065e-03 9.99956526e-01 5.71496315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51165253199999 meters 0.16299780496745114 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99955625e-01 6.72926335e-04 9.39660133e-03 -4.68289410e+00] [-6.82591302e-04 9.99999241e-01 1.02539066e-03 -5.86241436e+00] [-9.39590419e-03 -1.03175920e-03 9.99955325e-01 5.71796435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54165253199999 meters 0.17996796057385725 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954706e-01 6.09394940e-04 9.49818185e-03 -4.68317805e+00] [-6.16844025e-04 9.99999504e-01 7.81354572e-04 -5.86136843e+00] [-9.49770099e-03 -7.87178078e-04 9.99954586e-01 5.71815163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57165253199999 meters 0.15975120088354358 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953397e-01 4.81867801e-04 9.64214918e-03 -4.68342854e+00] [-4.85659413e-04 9.99999806e-01 3.90895573e-04 -5.86002039e+00] [-9.64195894e-03 -3.95560156e-04 9.99953437e-01 5.71606768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60165253199999 meters 0.15693872657579008 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99952322e-01 7.24982096e-04 9.73799870e-03 -4.68429859e+00] [-7.32100772e-04 9.99999467e-01 7.27475705e-04 -5.86012717e+00] [-9.73746610e-03 -7.34570217e-04 9.99952320e-01 5.72655652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63165253199999 meters 0.15606584284176234 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99951802e-01 5.51537160e-04 9.80248689e-03 -4.68431928e+00] [-5.55078454e-04 9.99999782e-01 3.58547809e-04 -5.85895524e+00] [-9.80228699e-03 -3.63971677e-04 9.99951890e-01 5.72382819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66165253199999 meters 0.16103054582104576 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99949667e-01 3.35579810e-04 1.00274840e-02 -4.68464256e+00] [-3.32690277e-04 9.99999903e-01 -2.89827961e-04 -5.85672371e+00] [-1.00275803e-02 2.86477327e-04 9.99949682e-01 5.71936902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69165253199999 meters 0.1700714575738741 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99947841e-01 -1.31306157e-05 1.02134318e-02 -4.68471052e+00] [ 2.43806586e-05 9.99999393e-01 -1.10137116e-03 -5.85409156e+00] [-1.02134111e-02 1.10156273e-03 9.99947235e-01 5.71193740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721652532 meters 0.1652077254740947 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99948322e-01 -1.28291732e-04 1.01654519e-02 -4.68449434e+00] [ 1.41180066e-04 9.99999187e-01 -1.26714909e-03 -5.85365889e+00] [-1.01652811e-02 1.26851876e-03 9.99947528e-01 5.71002711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751652532 meters 0.15586870623062316 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99947510e-01 -3.22639484e-04 1.02407433e-02 -4.68449591e+00] [ 3.40277290e-04 9.99998462e-01 -1.72062128e-03 -5.85225894e+00] [-1.02401724e-02 1.72401565e-03 9.99946082e-01 5.70636380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781652532 meters 0.1563741771863594 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99945233e-01 -2.33127290e-04 1.04631496e-02 -4.68530565e+00] [ 2.51804320e-04 9.99998377e-01 -1.78374757e-03 -5.85146472e+00] [-1.04627168e-02 1.78628454e-03 9.99943669e-01 5.71040879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811652532 meters 0.15865748869256133 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99942579e-01 -4.47661522e-04 1.07069323e-02 -4.68577099e+00] [ 4.74324803e-04 9.99996793e-01 -2.48787234e-03 -5.84896480e+00] [-1.07057842e-02 2.49280805e-03 9.99939584e-01 5.70786070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84165253199998 meters 0.1622243018467859 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99943183e-01 -3.48091642e-04 1.06540906e-02 -4.68597625e+00] [ 3.72139676e-04 9.99997388e-01 -2.25526512e-03 -5.84934370e+00] [-1.06532777e-02 2.25910180e-03 9.99940700e-01 5.71362499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87165253199998 meters 0.16553848653566233 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99941890e-01 -3.29325854e-04 1.07753243e-02 -4.68647333e+00] [ 3.54904937e-04 9.99997124e-01 -2.37203132e-03 -5.84848653e+00] [-1.07745121e-02 2.37571769e-03 9.99939131e-01 5.71615945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90165253199999 meters 0.16449028274298857 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99935633e-01 3.64184207e-03 1.07455346e-02 -4.68624502e+00] [-3.65724493e-03 9.99992312e-01 1.41411801e-03 -5.84672744e+00] [-1.07403020e-02 -1.45332604e-03 9.99941265e-01 5.71344510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93165253199999 meters 0.16940736092061248 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99937047e-01 3.50727821e-03 1.06583526e-02 -4.68581363e+00] [-3.52105409e-03 9.99992990e-01 1.27400560e-03 -5.84672727e+00] [-1.06538096e-02 -1.31145404e-03 9.99942387e-01 5.71010789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96165253199999 meters 0.16241428334725888 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99937586e-01 3.59807753e-03 1.05772242e-02 -4.68558744e+00] [-3.61517549e-03 9.99992189e-01 1.59781357e-03 -5.84811401e+00] [-1.05713926e-02 -1.63595237e-03 9.99942783e-01 5.71050724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99165253199999 meters 0.17120878001818488 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99937090e-01 3.75740204e-03 1.05686853e-02 -4.68575459e+00] [-3.77825802e-03 9.99990953e-01 1.95410178e-03 -5.84920780e+00] [-1.05612473e-02 -1.99391006e-03 9.99942241e-01 5.71440682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02165253199999 meters 0.1639401429413234 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99938803e-01 3.70769238e-03 1.04232110e-02 -4.68537866e+00] [-3.73031634e-03 9.99990727e-01 2.15193357e-03 -5.85024052e+00] [-1.04151357e-02 -2.19068376e-03 9.99943361e-01 5.71490332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05165253199999 meters 0.17415044135244087 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99939638e-01 3.65857502e-03 1.03602646e-02 -4.68522737e+00] [-3.68150842e-03 9.99990813e-01 2.19538730e-03 -5.85053556e+00] [-1.03521374e-02 -2.23339619e-03 9.99943921e-01 5.71528672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08165253199999 meters 0.17059671021942563 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99940404e-01 3.62100605e-03 1.02993278e-02 -4.68481750e+00] [-3.64503241e-03 9.99990677e-01 2.31499483e-03 -5.85149444e+00] [-1.02908492e-02 -2.35239825e-03 9.99944281e-01 5.71137267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111652532 meters 0.15868828786559683 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99946092e-01 -7.15608741e-04 1.03585992e-02 -4.68453116e+00] [ 7.36516615e-04 9.99997699e-01 -2.01473350e-03 -5.85222730e+00] [-1.03571336e-02 2.02225417e-03 9.99944319e-01 5.70425279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141652532 meters 0.1666223151741057 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99946198e-01 -3.95458061e-04 1.03655783e-02 -4.68493748e+00] [ 4.10079941e-04 9.99998924e-01 -1.40853139e-03 -5.85377483e+00] [-1.03650102e-02 1.41270632e-03 9.99945284e-01 5.71107247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171652532 meters 0.16621114248071828 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99946525e-01 -3.68955090e-04 1.03349080e-02 -4.68475081e+00] [ 3.81460326e-04 9.99999198e-01 -1.20805469e-03 -5.85475687e+00] [-1.03344540e-02 1.21193245e-03 9.99945864e-01 5.70995812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201652532 meters 0.16904064090818718 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99948100e-01 -1.31016499e-04 1.01872229e-02 -4.68471178e+00] [ 1.36573886e-04 9.99999842e-01 -5.44831518e-04 -5.85672266e+00] [-1.01871499e-02 5.46194550e-04 9.99947960e-01 5.71603540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23165253199998 meters 0.16372268212306018 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99949573e-01 -2.23412657e-04 1.00400044e-02 -4.68399897e+00] [ 2.27763275e-04 9.99999881e-01 -4.32186906e-04 -5.85795995e+00] [-1.00399066e-02 4.34451856e-04 9.99949504e-01 5.71096865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26165253199999 meters 0.16132326412827588 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99952873e-01 -2.91122887e-04 9.70395299e-03 -4.68298786e+00] [ 2.91844840e-04 9.99999955e-01 -7.29818210e-05 -5.86008309e+00] [-9.70393130e-03 7.58104303e-05 9.99952913e-01 5.70926426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29165253199999 meters 0.16015775835761634 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956013e-01 -2.04288991e-04 9.37711903e-03 -4.68232729e+00] [ 1.99185924e-04 9.99999832e-01 5.45134831e-04 -5.86246090e+00] [-9.37722881e-03 -5.43243062e-04 9.99955885e-01 5.71257190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32165253199999 meters 0.1573358689332528 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956762e-01 -4.51628759e-04 9.28817683e-03 -4.68159498e+00] [ 4.49353523e-04 9.99999869e-01 2.47045877e-04 -5.86226406e+00] [-9.28828718e-03 -2.42861520e-04 9.99956833e-01 5.70399781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35165253199999 meters 0.1580664030667455 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99955441e-01 -6.64483799e-04 9.41671823e-03 -4.68160709e+00] [ 6.66841853e-04 9.99999747e-01 -2.47273853e-04 -5.86084929e+00] [-9.41655154e-03 2.53542296e-04 9.99955631e-01 5.69858552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38165253199999 meters 0.157243371993969 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99955323e-01 -5.52420551e-04 9.43642655e-03 -4.68187416e+00] [ 5.52633768e-04 9.99999847e-01 -1.99876013e-05 -5.86138785e+00] [-9.43641407e-03 2.52015963e-05 9.99955476e-01 5.70269839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41165253199999 meters 0.15413325136093448 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956398e-01 -3.71914267e-04 9.33079753e-03 -4.68182655e+00] [ 3.67819322e-04 9.99999835e-01 4.40575591e-04 -5.86289705e+00] [-9.33095985e-03 -4.37124333e-04 9.99956370e-01 5.70715226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44165253199999 meters 0.1533245160770353 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956121e-01 -2.20176340e-04 9.36521460e-03 -4.68190578e+00] [ 2.13548100e-04 9.99999726e-01 7.08745066e-04 -5.86412762e+00] [-9.36536809e-03 -7.06714044e-04 9.99955894e-01 5.70786659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471652532 meters 0.16369904247007985 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99955920e-01 -3.31253639e-04 9.38344526e-03 -4.68173419e+00] [ 3.26501856e-04 9.99999818e-01 5.07928084e-04 -5.86378541e+00] [-9.38361180e-03 -5.04841982e-04 9.99955846e-01 5.70439412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501652532 meters 0.15821250755683694 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954558e-01 -3.91308548e-04 9.52520847e-03 -4.68214608e+00] [ 3.89089155e-04 9.99999897e-01 2.34854060e-04 -5.86256055e+00] [-9.52529938e-03 -2.31137233e-04 9.99954607e-01 5.70519674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531652532 meters 0.1517876640502247 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953515e-01 -5.42218974e-04 9.62675683e-03 -4.68217985e+00] [ 5.43397214e-04 9.99999845e-01 -1.19776915e-04 -5.86163483e+00] [-9.62669039e-03 1.25002500e-04 9.99953655e-01 5.70152991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561652532 meters 0.17558079370776306 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954245e-01 -5.54484239e-04 9.54985640e-03 -4.68212744e+00] [ 5.55177371e-04 9.99999843e-01 -6.99295542e-05 -5.86172204e+00] [-9.54981613e-03 7.52282188e-05 9.99954397e-01 5.70419071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59165253199998 meters 0.17558079370776306 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954245e-01 -5.54484239e-04 9.54985640e-03 -4.68212744e+00] [ 5.55177371e-04 9.99999843e-01 -6.99295542e-05 -5.86172204e+00] [-9.54981613e-03 7.52282188e-05 9.99954397e-01 5.70419071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62165253199998 meters 0.1672868172633831 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953328e-01 -5.62404900e-04 9.64498841e-03 -4.68238597e+00] [ 5.64671881e-04 9.99999814e-01 -2.32320877e-04 -5.86106587e+00] [-9.64485596e-03 2.37756288e-04 9.99953459e-01 5.70479707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65165253199999 meters 0.1736084293406683 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953229e-01 -5.36050403e-04 9.65669164e-03 -4.68244165e+00] [ 5.37768989e-04 9.99999840e-01 -1.75372722e-04 -5.86130892e+00] [-9.65659608e-03 1.80557589e-04 9.99953358e-01 5.70560740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68165253199999 meters 0.1615510847490633 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954584e-01 -5.51766481e-04 9.51446630e-03 -4.68205271e+00] [ 5.52383198e-04 9.99999846e-01 -6.21911159e-05 -5.86193574e+00] [-9.51443051e-03 6.74439227e-05 9.99954735e-01 5.70561453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71165253199999 meters 0.17460635260524546 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99951685e-01 -4.73002765e-04 9.81859097e-03 -4.68301904e+00] [ 4.75843813e-04 9.99999846e-01 -2.87019809e-04 -5.86049561e+00] [-9.81845369e-03 2.91678058e-04 9.99951755e-01 5.70927858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74165253199999 meters 0.1708755128268216 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953729e-01 -4.79024217e-04 9.60778225e-03 -4.68258183e+00] [ 4.80173010e-04 9.99999878e-01 -1.17262573e-04 -5.86122933e+00] [-9.60772490e-03 1.21870545e-04 9.99953837e-01 5.71118501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77165253199999 meters 0.16769941437723904 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99953445e-01 -4.87317573e-04 9.63691753e-03 -4.68269799e+00] [ 4.88964579e-04 9.99999866e-01 -1.68550498e-04 -5.86100426e+00] [-9.63683410e-03 1.73254763e-04 9.99953550e-01 5.71199112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80165253199999 meters 0.16796146093433603 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99955050e-01 -2.77313154e-04 9.47736521e-03 -4.68280388e+00] [ 2.73926797e-04 9.99999898e-01 3.58606186e-04 -5.86251413e+00] [-9.47746369e-03 -3.55993962e-04 9.99955024e-01 5.72144054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83165253199999 meters 0.1653376418573688 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956441e-01 -7.90214958e-05 9.33328459e-03 -4.68278030e+00] [ 7.13505014e-05 9.99999659e-01 8.22226661e-04 -5.86383025e+00] [-9.33334639e-03 -8.21524911e-04 9.99956106e-01 5.72746528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861652532 meters 0.17427051051413356 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99956445e-01 -2.27938236e-04 9.33040278e-03 -4.68260913e+00] [ 2.23162367e-04 9.99999844e-01 5.12898942e-04 -5.86300872e+00] [-9.33051823e-03 -5.10794408e-04 9.99956339e-01 5.72444090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891652532 meters 0.16526864246162631 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99954332e-01 -4.15903103e-04 9.54782749e-03 -4.68287684e+00] [ 4.16656282e-04 9.99999910e-01 -7.68959571e-05 -5.86111828e+00] [-9.54779465e-03 8.08706077e-05 9.99954415e-01 5.71907707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921652532 meters 0.1786619252716679 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99942431e-01 3.69971149e-03 1.00720376e-02 -4.68374229e+00] [-3.73045826e-03 9.99988434e-01 3.03561297e-03 -5.85704565e+00] [-1.00606902e-02 -3.07301153e-03 9.99944668e-01 5.71026689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951652532 meters 0.17750294996454735 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99935323e-01 3.75955030e-03 1.07338837e-02 -4.68511613e+00] [-3.78622188e-03 9.99989793e-01 2.46556311e-03 -5.85481857e+00] [-1.07245047e-02 -2.50604451e-03 9.99939351e-01 5.70745890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98165253199998 meters 0.17816299818333187 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99940781e-01 -2.81114185e-04 1.08791702e-02 -4.68583389e+00] [ 2.98141851e-04 9.99998733e-01 -1.56357206e-03 -5.85539246e+00] [-1.08787168e-02 1.56672301e-03 9.99939598e-01 5.71389366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01165253199999 meters 0.1782622738154369 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99941132e-01 1.27544956e-04 1.08497266e-02 -4.68636475e+00] [-1.18515432e-04 9.99999646e-01 -8.32874087e-04 -5.85718487e+00] [-1.08498290e-02 8.31539197e-04 9.99940793e-01 5.72480597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04165253199999 meters 0.18342722741930562 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99939377e-01 3.12293538e-04 1.10066089e-02 -4.68707181e+00] [-3.04832825e-04 9.99999723e-01 -6.79510477e-04 -5.85723762e+00] [-1.10068180e-02 6.76114107e-04 9.99939195e-01 5.73108732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07165253199999 meters 0.18076848589037925 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99938483e-01 3.78490944e-04 1.10854407e-02 -4.68748412e+00] [-3.71467123e-04 9.99999729e-01 -6.35659915e-04 -5.85694899e+00] [-1.10856783e-02 6.31502934e-04 9.99938353e-01 5.73444209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10165253199999 meters 0.18244544494465675 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99937537e-01 1.36635219e-04 1.11760637e-02 -4.68732206e+00] [-1.23992323e-04 9.99999352e-01 -1.13193274e-03 -5.85570567e+00] [-1.11762111e-02 1.13047629e-03 9.99936905e-01 5.72777773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13165253199999 meters 0.17941284766871418 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99938731e-01 -4.45965801e-06 1.10695362e-02 -4.68679546e+00] [ 1.83865660e-05 9.99999209e-01 -1.25802787e-03 -5.85570442e+00] [-1.10695218e-02 1.25815432e-03 9.99937939e-01 5.72364926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16165253199999 meters 0.18145857415568262 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99942292e-01 1.64761720e-04 1.07417456e-02 -4.68621104e+00] [-1.58221420e-04 9.99999802e-01 -6.09714535e-04 -5.85797305e+00] [-1.07418439e-02 6.07979776e-04 9.99942120e-01 5.72841470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19165253199999 meters 0.180936321330995 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99943700e-01 3.74173988e-04 1.06045252e-02 -4.68617093e+00] [-3.73003943e-04 9.99999924e-01 -1.12312141e-04 -5.85938527e+00] [-1.06045664e-02 1.08350288e-04 9.99943764e-01 5.73409502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221652532 meters 0.17347076243646742 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99944413e-01 4.34592291e-04 1.05348051e-02 -4.68607556e+00] [-4.35854271e-04 9.99999898e-01 1.17495942e-04 -5.86017184e+00] [-1.05347530e-02 -1.22081050e-04 9.99944500e-01 5.73599960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251652532 meters 0.17072134981104348 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99950339e-01 1.99511034e-04 9.96396721e-03 -4.68466090e+00] [-2.02835710e-04 9.99999924e-01 3.32660460e-04 -5.86144165e+00] [-9.96390008e-03 -3.34664988e-04 9.99950303e-01 5.73626449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281652532 meters 0.17839969635869082 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99949604e-01 -3.46751419e-05 1.00393816e-02 -4.68452860e+00] [ 3.62957953e-05 9.99999986e-01 -1.61247453e-04 -5.86010037e+00] [-1.00393758e-02 1.61603714e-04 9.99949591e-01 5.73078339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311652532 meters 0.1884944273966915 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99946827e-01 -1.96554492e-04 1.03103702e-02 -4.68490987e+00] [ 2.03848662e-04 9.99999730e-01 -7.06413399e-04 -5.85828169e+00] [-1.03102285e-02 7.08477592e-04 9.99946597e-01 5.72576722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34165253199998 meters 0.1726451346779938 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99948522e-01 -3.12485339e-04 1.01418205e-02 -4.68427287e+00] [ 3.20064030e-04 9.99999671e-01 -7.45656778e-04 -5.85858884e+00] [-1.01415841e-02 7.48864425e-04 9.99948292e-01 5.72236384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37165253199998 meters 0.18410772484798632 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99947646e-01 -2.82355905e-04 1.02286372e-02 -4.68451033e+00] [ 2.90284892e-04 9.99999659e-01 -7.73698899e-04 -5.85836403e+00] [-1.02284153e-02 7.76627612e-04 9.99947387e-01 5.72278551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40165253199999 meters 0.17356150117503016 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99945818e-01 -2.37900129e-04 1.04069086e-02 -4.68498994e+00] [ 2.46284618e-04 9.99999646e-01 -8.04391501e-04 -5.85812393e+00] [-1.04067135e-02 8.06910979e-04 9.99945523e-01 5.72372762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43165253199999 meters 0.1806622267490874 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99947338e-01 1.54627852e-04 1.02614611e-02 -4.68520784e+00] [-1.55625408e-04 9.99999983e-01 9.64153930e-05 -5.86072772e+00] [-1.02614460e-02 -9.80072596e-05 9.99947345e-01 5.73434440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46165253199999 meters 0.17887928658105678 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.57 [[ 9.99948604e-01 2.96888963e-04 1.01341609e-02 -4.68505769e+00] [-3.02138866e-04 9.99999821e-01 5.16513081e-04 -5.86209961e+00] [-1.01340058e-02 -5.19548458e-04 9.99948515e-01 5.73763392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49165253199999 meters 0.17842399462257305 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99949159e-01 2.72662524e-04 1.00798852e-02 -4.68470919e+00] [-2.78607289e-04 9.99999788e-01 5.88365712e-04 -5.86269897e+00] [-1.00797227e-02 -5.91144129e-04 9.99949024e-01 5.73428668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52165253199999 meters 0.16960970281007912 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99955014e-01 5.21572604e-05 9.48509843e-03 -4.68294818e+00] [-6.15260762e-05 9.99999511e-01 9.87451375e-04 -5.86527154e+00] [-9.48504228e-03 -9.87990535e-04 9.99954528e-01 5.73091723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55165253199999 meters 0.16878617600201384 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99963300e-01 -5.97368471e-04 8.54647434e-03 -4.67967692e+00] [ 5.87837485e-04 9.99999203e-01 1.11766363e-03 -5.86823696e+00] [-8.54713518e-03 -1.11259868e-03 9.99962854e-01 5.71341826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58165253199999 meters 0.16303623997199507 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99963848e-01 -8.26739891e-04 8.46277089e-03 -4.67880400e+00] [ 8.19316814e-04 9.99999277e-01 8.80574277e-04 -5.86839651e+00] [-8.46349278e-03 -8.73608752e-04 9.99963802e-01 5.70232606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611652532 meters 0.16440498720287328 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99964036e-01 -9.34960815e-04 8.42932478e-03 -4.67844295e+00] [ 9.28530517e-04 9.99999275e-01 7.66729781e-04 -5.86837119e+00] [-8.43003553e-03 -7.58875321e-04 9.99964179e-01 5.69784696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641652532 meters 0.16807714850090474 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99964391e-01 -7.93101263e-04 8.40161158e-03 -4.67829474e+00] [ 7.83457749e-04 9.99999031e-01 1.15104617e-03 -5.86997653e+00] [-8.40251633e-03 -1.14442287e-03 9.99964043e-01 5.69714693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671652532 meters 0.16184088055919205 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99968169e-01 -8.22396520e-04 7.93628815e-03 -4.67685309e+00] [ 8.09252102e-04 9.99998296e-01 1.65931166e-03 -5.87289215e+00] [-7.93763924e-03 -1.65283639e-03 9.99967130e-01 5.69321411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701652532 meters 0.16244219707620086 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99970825e-01 -7.79394093e-04 7.59874731e-03 -4.67595312e+00] [ 7.62760897e-04 9.99997308e-01 2.19159160e-03 -5.87528885e+00] [-7.60043497e-03 -2.18573164e-03 9.99968727e-01 5.69346320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73165253199998 meters 0.15724321135089572 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99974566e-01 -8.83549140e-04 7.07720085e-03 -4.67438658e+00] [ 8.65079642e-04 9.99996214e-01 2.61235409e-03 -5.87804420e+00] [-7.07948220e-03 -2.60616530e-03 9.99971544e-01 5.68984207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76165253199999 meters 0.16634850653983588 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99976522e-01 -9.64274855e-04 6.78426321e-03 -4.67309372e+00] [ 9.44702636e-04 9.99995385e-01 2.88755729e-03 -5.88027210e+00] [-6.78701629e-03 -2.88108039e-03 9.99972818e-01 5.68102241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79165253199999 meters 0.16840401030460442 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99976206e-01 -1.12147328e-03 6.80659752e-03 -4.67264149e+00] [ 1.10345365e-03 9.99995878e-01 2.65055602e-03 -5.88013361e+00] [-6.80954199e-03 -2.64298218e-03 9.99973322e-01 5.67255043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82165253199999 meters 0.14844583955095064 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99978546e-01 -1.22598993e-03 6.43458629e-03 -4.67140040e+00] [ 1.20656807e-03 9.99994708e-01 3.02136957e-03 -5.88220815e+00] [-6.43825641e-03 -3.01354098e-03 9.99974733e-01 5.66813284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85165253199999 meters 0.16388107925559428 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99980873e-01 -1.50223871e-03 5.99969687e-03 -4.66976358e+00] [ 1.48367002e-03 9.99994100e-01 3.09819098e-03 -5.88375440e+00] [-6.00431569e-03 -3.08923015e-03 9.99977202e-01 5.65966316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88165253199999 meters 0.16163610633803407 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99981385e-01 -1.58015717e-03 5.89345253e-03 -4.66902122e+00] [ 1.56146249e-03 9.99993739e-01 3.17536371e-03 -5.88482935e+00] [-5.89843321e-03 -3.16610219e-03 9.99977592e-01 5.65227191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91165253199999 meters 0.16492093233298147 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.57 [[ 9.99982631e-01 -1.56201236e-03 5.68319430e-03 -4.66841588e+00] [ 1.54216920e-03 9.99992706e-01 3.49426036e-03 -5.88635806e+00] [-5.68861093e-03 -3.48543522e-03 9.99977745e-01 5.65180544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94165253199999 meters 0.1550106447316001 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.57 [[ 9.99983717e-01 -1.50446980e-03 5.50479164e-03 -4.66788680e+00] [ 1.48340650e-03 9.99991571e-01 3.82844116e-03 -5.88794244e+00] [-5.51050502e-03 -3.82021298e-03 9.99977520e-01 5.65116026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971652532 meters 0.15794621979733015 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.57 [[ 9.99983475e-01 -1.38162552e-03 5.58031105e-03 -4.66809945e+00] [ 1.35921029e-03 9.99991002e-01 4.01863960e-03 -5.88859341e+00] [-5.58581309e-03 -4.01098838e-03 9.99976355e-01 5.65171530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001652532 meters 0.15929760830495346 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99984194e-01 -1.45193031e-03 5.43164439e-03 -4.66752253e+00] [ 1.42929509e-03 9.99990289e-01 4.16885145e-03 -5.88967319e+00] [-5.43764453e-03 -4.16102213e-03 9.99976559e-01 5.64903252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031652532 meters 0.15945938247398844 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99986356e-01 -1.62839866e-03 4.96348507e-03 -4.66612035e+00] [ 1.60629580e-03 9.99988792e-01 4.45383154e-03 -5.89166073e+00] [-4.97068205e-03 -4.44579794e-03 9.99977763e-01 5.64616773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061652532 meters 0.15012502246368425 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99988027e-01 -1.66368689e-03 4.60196263e-03 -4.66516748e+00] [ 1.64130170e-03 9.99986825e-01 4.86377780e-03 -5.89357390e+00] [-4.60999380e-03 -4.85616636e-03 9.99977583e-01 5.64606022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09165253199998 meters 0.16063638038260333 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99987215e-01 -1.84415739e-03 4.70843284e-03 -4.66510169e+00] [ 1.82298315e-03 9.99988225e-01 4.49742721e-03 -5.89265837e+00] [-4.71667136e-03 -4.48878632e-03 9.99978802e-01 5.64019540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12165253199998 meters 0.15043320038928362 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99986759e-01 -2.07245834e-03 4.71037661e-03 -4.66459729e+00] [ 2.05280349e-03 9.99989183e-01 4.17368234e-03 -5.89224032e+00] [-4.71897544e-03 -4.16395760e-03 9.99980196e-01 5.63174119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15165253199999 meters 0.1530170273633711 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99986487e-01 -2.33849505e-03 4.64307544e-03 -4.66394838e+00] [ 2.32089269e-03 9.99990114e-01 3.79287440e-03 -5.89160504e+00] [-4.65189916e-03 -3.78204707e-03 9.99982028e-01 5.62358419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18165253199999 meters 0.15352848844342717 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99984466e-01 -2.70135251e-03 4.87554347e-03 -4.66382272e+00] [ 2.68672565e-03 9.99991878e-01 3.00410627e-03 -5.88948951e+00] [-4.88361903e-03 -2.99096036e-03 9.99983602e-01 5.61128217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21165253199999 meters 0.15167764796406627 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99984698e-01 -2.59870657e-03 4.88366177e-03 -4.66407241e+00] [ 2.58310093e-03 9.99991547e-01 3.19907439e-03 -5.88984983e+00] [-4.89193395e-03 -3.18641044e-03 9.99982958e-01 5.61543019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24165253199999 meters 0.1522445890812132 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.89, Z:0.56 [[ 9.99984303e-01 -2.54881711e-03 4.98979481e-03 -4.66444827e+00] [ 2.53284499e-03 9.99991657e-01 3.20466320e-03 -5.88965300e+00] [-4.99792128e-03 -3.19197452e-03 9.99982416e-01 5.61719812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27165253199999 meters 0.1524480676829988 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99982958e-01 -2.57311365e-03 5.24055700e-03 -4.66506731e+00] [ 2.55782500e-03 9.99992460e-01 2.92198591e-03 -5.88841717e+00] [-5.24803608e-03 -2.90853168e-03 9.99981999e-01 5.61668351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30165253199999 meters 0.156146376230898 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99980471e-01 -2.46706865e-03 5.74209935e-03 -4.66646577e+00] [ 2.45196071e-03 9.99993518e-01 2.63663792e-03 -5.88662184e+00] [-5.74856689e-03 -2.62250702e-03 9.99980038e-01 5.61930857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33165253199999 meters 0.1500014574485712 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99980912e-01 -2.43933610e-03 5.67677496e-03 -4.66647325e+00] [ 2.42362510e-03 9.99993219e-01 2.77282904e-03 -5.88696968e+00] [-5.68350033e-03 -2.75901774e-03 9.99980043e-01 5.62277004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361652532 meters 0.15008338846644986 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.89, Z:0.56 [[ 9.99980087e-01 -2.28443786e-03 5.88280915e-03 -4.66722412e+00] [ 2.26762433e-03 9.99993330e-01 2.86316292e-03 -5.88667055e+00] [-5.88931063e-03 -2.84976590e-03 9.99978597e-01 5.62609236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391652532 meters 0.15915070081497695 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99976424e-01 -2.52302429e-03 6.38641380e-03 -4.66810107e+00] [ 2.51045505e-03 9.99994898e-01 1.97537435e-03 -5.88302748e+00] [-6.39136514e-03 -1.95929497e-03 9.99977656e-01 5.61856910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421652532 meters 0.1594541466766092 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99974403e-01 -2.88782294e-03 6.54629920e-03 -4.66807755e+00] [ 2.88028213e-03 9.99995178e-01 1.16105538e-03 -5.88044762e+00] [-6.54962055e-03 -1.14217047e-03 9.99977899e-01 5.61057169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451652532 meters 0.1594541466766092 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99974403e-01 -2.88782294e-03 6.54629920e-03 -4.66807755e+00] [ 2.88028213e-03 9.99995178e-01 1.16105538e-03 -5.88044762e+00] [-6.54962055e-03 -1.14217047e-03 9.99977899e-01 5.61057169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48165253199998 meters 0.15539559657388477 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99970768e-01 -2.76181919e-03 7.12983513e-03 -4.67001204e+00] [ 2.75693478e-03 9.99995958e-01 6.94804316e-04 -5.87717918e+00] [-7.13172523e-03 -6.75127516e-04 9.99974341e-01 5.61742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51165253199999 meters 0.15539559657388477 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99970768e-01 -2.76181919e-03 7.12983513e-03 -4.67001204e+00] [ 2.75693478e-03 9.99995958e-01 6.94804316e-04 -5.87717918e+00] [-7.13172523e-03 -6.75127516e-04 9.99974341e-01 5.61742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54165253199999 meters 0.15539559657388477 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99970768e-01 -2.76181919e-03 7.12983513e-03 -4.67001204e+00] [ 2.75693478e-03 9.99995958e-01 6.94804316e-04 -5.87717918e+00] [-7.13172523e-03 -6.75127516e-04 9.99974341e-01 5.61742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57165253199999 meters 0.15387169267342984 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.56 [[ 9.99969280e-01 -2.72479724e-03 7.34942354e-03 -4.67083191e+00] [ 2.72111076e-03 9.99996167e-01 5.11553604e-04 -5.87592769e+00] [-7.35078925e-03 -4.91539293e-04 9.99972862e-01 5.62136752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60165253199999 meters 0.16249341988079155 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99967288e-01 -2.68485453e-03 7.62989603e-03 -4.67179751e+00] [ 2.68301147e-03 9.99996369e-01 2.51782631e-04 -5.87431978e+00] [-7.63054432e-03 -2.31303296e-04 9.99970860e-01 5.62524280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63165253199999 meters 0.16009133006533985 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.87, Z:0.56 [[ 9.99964045e-01 -2.63612901e-03 8.05975755e-03 -4.67308405e+00] [ 2.63738106e-03 9.99996512e-01 -1.44720715e-04 -5.87213501e+00] [-8.05934794e-03 1.65972164e-04 9.99967509e-01 5.62803739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66165253199999 meters 0.16287010385128017 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99964924e-01 -3.30396665e-04 8.36907205e-03 -4.67647430e+00] [ 3.15429993e-04 9.99998349e-01 1.78958797e-03 -5.86851000e+00] [-8.36964951e-03 -1.78688534e-03 9.99963377e-01 5.66119953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69165253199999 meters 0.15512314238631153 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99962329e-01 -6.38999230e-04 8.65639255e-03 -4.67687244e+00] [ 6.30877187e-04 9.99999358e-01 9.40969249e-04 -5.86576121e+00] [-8.65698827e-03 -9.35472680e-04 9.99962090e-01 5.65491406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721652532 meters 0.15830361515316912 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99960519e-01 -6.08632980e-04 8.86507513e-03 -4.67758266e+00] [ 6.01709192e-04 9.99999512e-01 7.83664799e-04 -5.86475843e+00] [-8.86554776e-03 -7.78299662e-04 9.99960397e-01 5.65738686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751652532 meters 0.15678336508108012 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99957257e-01 -5.12565938e-04 9.23155379e-03 -4.67892457e+00] [ 5.08418589e-04 9.99999769e-01 4.51599116e-04 -5.86261891e+00] [-9.23178313e-03 -4.46886319e-04 9.99957286e-01 5.66404229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781652532 meters 0.1572845621314667 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99951011e-01 -5.19273028e-05 9.89815813e-03 -4.68137863e+00] [ 4.66938358e-05 9.99999859e-01 5.28961765e-04 -5.86081876e+00] [-9.89818421e-03 -5.28473668e-04 9.99950872e-01 5.67718029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811652532 meters 0.1703953272162915 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99948044e-01 -2.16704338e-04 1.01912667e-02 -4.68206134e+00] [ 2.17393786e-04 9.99999974e-01 -6.65430665e-05 -5.85851804e+00] [-1.01912520e-02 6.87551272e-05 9.99948065e-01 5.67563451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84165253199998 meters 0.16855262366191234 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.86, Z:0.57 [[ 9.99943833e-01 -1.81593722e-04 1.05970725e-02 -4.68359888e+00] [ 1.85903288e-04 9.99999900e-01 -4.05691512e-04 -5.85580119e+00] [-1.05969978e-02 4.07638756e-04 9.99943767e-01 5.68327919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87165253199998 meters 0.16179891744941244 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.85, Z:0.57 [[ 9.99940431e-01 -2.36387547e-04 1.09122703e-02 -4.68449840e+00] [ 2.45217316e-04 9.99999644e-01 -8.07828745e-04 -5.85383291e+00] [-1.09120754e-02 8.10456501e-04 9.99940133e-01 5.68449647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90165253199999 meters 0.17727224040350795 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99938067e-01 -4.06931874e-04 1.11218577e-02 -4.68508867e+00] [ 4.21616552e-04 9.99999043e-01 -1.31803116e-03 -5.85159521e+00] [-1.11213107e-02 1.32263869e-03 9.99937282e-01 5.68523065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93165253199999 meters 0.1697076872125227 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99936605e-01 -3.32608273e-04 1.12549730e-02 -4.68569781e+00] [ 3.47760902e-04 9.99999036e-01 -1.34437494e-03 -5.85094571e+00] [-1.12545150e-02 1.34820376e-03 9.99935757e-01 5.68939925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96165253199999 meters 0.1694843738244399 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99933779e-01 -3.45110734e-04 1.15029930e-02 -4.68642642e+00] [ 3.63467982e-04 9.99998664e-01 -1.59381476e-03 -5.84961564e+00] [-1.15024276e-02 1.59789019e-03 9.99932568e-01 5.69071561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99165253199999 meters 0.18122243897240667 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99932532e-01 -3.57626636e-04 1.16104917e-02 -4.68687688e+00] [ 3.77470903e-04 9.99998472e-01 -1.70702044e-03 -5.84880897e+00] [-1.16098635e-02 1.71128789e-03 9.99931139e-01 5.69312190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02165253199999 meters 0.16565340243850185 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99931235e-01 -3.29964457e-04 1.17225135e-02 -4.68744265e+00] [ 3.51025027e-04 9.99998328e-01 -1.79457959e-03 -5.84787957e+00] [-1.17219018e-02 1.79857108e-03 9.99929679e-01 5.69711117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05165253199999 meters 0.18121142072119306 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99928675e-01 -4.69879830e-04 1.19341795e-02 -4.68796102e+00] [ 4.96692138e-04 9.99997359e-01 -2.24381757e-03 -5.84610099e+00] [-1.19330937e-02 2.24958514e-03 9.99926268e-01 5.69648215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08165253199999 meters 0.16906059049033484 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99927707e-01 -3.01955128e-04 1.20203783e-02 -4.68863813e+00] [ 3.26383698e-04 9.99997886e-01 -2.03035321e-03 -5.84603094e+00] [-1.20197398e-02 2.03412968e-03 9.99925691e-01 5.70406778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111652532 meters 0.18368085280696345 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.57 [[ 9.99925396e-01 -2.73866292e-04 1.22117862e-02 -4.68928877e+00] [ 3.00351045e-04 9.99997607e-01 -2.16700488e-03 -5.84505153e+00] [-1.22111635e-02 2.17051104e-03 9.99923085e-01 5.70651402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141652532 meters 0.17988959273772287 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.57 [[ 9.99923184e-01 -3.60688838e-04 1.23893651e-02 -4.68970244e+00] [ 3.91159349e-04 9.99996905e-01 -2.45707347e-03 -5.84392998e+00] [-1.23884405e-02 2.46173094e-03 9.99920230e-01 5.70566983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171652532 meters 0.17815492053397977 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.57 [[ 9.99924511e-01 -1.96984396e-04 1.22854654e-02 -4.68990405e+00] [ 2.22599787e-04 9.99997804e-01 -2.08368337e-03 -5.84460970e+00] [-1.22850280e-02 2.08626081e-03 9.99922360e-01 5.71355242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201652532 meters 0.18068467470727959 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.57 [[ 9.99922904e-01 -2.62643411e-04 1.24143666e-02 -4.69020746e+00] [ 2.91459127e-04 9.99997268e-01 -2.31940650e-03 -5.84374657e+00] [-1.24137235e-02 2.32284596e-03 9.99920249e-01 5.71318312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23165253199998 meters 0.18864706397571096 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.57 [[ 9.99922414e-01 -2.93225773e-04 1.24531291e-02 -4.69023574e+00] [ 3.22845842e-04 9.99997124e-01 -2.37658055e-03 -5.84367139e+00] [-1.24523965e-02 2.38041660e-03 9.99919632e-01 5.71224516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26165253199999 meters 0.17734152018400376 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995260e-01 -1.95197868e-04 -3.07287348e-03 -4.69037978e+00] [ 1.93717369e-04 9.99999865e-01 -4.82086746e-04 -5.84676163e+00] [ 3.07296716e-03 4.81489191e-04 9.99995163e-01 5.80497335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29165253199999 meters 0.17318044825353182 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995814e-01 -4.05655518e-05 -2.89323935e-03 -4.69128373e+00] [ 3.93819049e-05 9.99999916e-01 -4.09163646e-04 -5.84617493e+00] [ 2.89325570e-03 4.09047992e-04 9.99995731e-01 5.81167466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32165253199999 meters 0.1807616483121485 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.58 [[ 9.99996620e-01 -2.03626118e-05 -2.59983268e-03 -4.69218577e+00] [ 1.87670473e-05 9.99999811e-01 -6.13741064e-04 -5.84490003e+00] [ 2.59984468e-03 6.13690199e-04 9.99996432e-01 5.81366157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35165253199999 meters 0.18333680163408334 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.58 [[ 9.99996916e-01 -1.38359347e-04 -2.47954484e-03 -4.69232900e+00] [ 1.36169470e-04 9.99999601e-01 -8.83323951e-04 -5.84412045e+00] [ 2.47966607e-03 8.82983589e-04 9.99996536e-01 5.81082651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38165253199999 meters 0.18260150516076828 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.84, Z:0.58 [[ 9.99996937e-01 9.25586378e-05 -2.47346050e-03 -4.69270777e+00] [-9.37736572e-05 9.99999875e-01 -4.91111003e-04 -5.84498194e+00] [ 2.47341474e-03 4.91341444e-04 9.99996820e-01 5.81677030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41165253199999 meters 0.20580501166279183 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99996437e-01 4.16394702e-04 -2.63662219e-03 -4.69260900e+00] [-4.15865957e-04 9.99999893e-01 2.01083787e-04 -5.84709169e+00] [ 2.63670564e-03 -1.99986589e-04 9.99996504e-01 5.82212320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44165253199999 meters 0.20111280801360046 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99996359e-01 5.16200627e-04 -2.64849880e-03 -4.69255054e+00] [-5.15158339e-04 9.99999790e-01 3.94206238e-04 -5.84777797e+00] [ 2.64870173e-03 -3.92840406e-04 9.99996415e-01 5.82168937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471652532 meters 0.20267882188587774 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99996359e-01 2.93590745e-04 -2.68248786e-03 -4.69204346e+00] [-2.93482705e-04 9.99999956e-01 4.06696499e-05 -5.84720423e+00] [ 2.68249968e-03 -3.98822380e-05 9.99996401e-01 5.81469798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501652532 meters 0.19883331382643626 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995902e-01 4.71971959e-04 -2.82357275e-03 -4.69198061e+00] [-4.70592505e-04 9.99999770e-01 4.89193653e-04 -5.84840506e+00] [ 2.82380298e-03 -4.87862896e-04 9.99995894e-01 5.81968472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531652532 meters 0.19687756162530326 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99996010e-01 4.94269614e-04 -2.78120054e-03 -4.69205532e+00] [-4.92812940e-04 9.99999741e-01 5.24418220e-04 -5.84856615e+00] [ 2.78145902e-03 -5.23045516e-04 9.99995995e-01 5.81930017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561652532 meters 0.19352954352618293 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995834e-01 7.10694297e-04 -2.79777295e-03 -4.69230728e+00] [-7.08078715e-04 9.99999311e-01 9.35759515e-04 -5.84963733e+00] [ 2.79843606e-03 -9.33774573e-04 9.99995648e-01 5.82455712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59165253199998 meters 0.19045102054625768 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995352e-01 7.89890048e-04 -2.94489573e-03 -4.69209957e+00] [-7.86401338e-04 9.99998988e-01 1.18563309e-03 -5.85048975e+00] [ 2.94582927e-03 -1.18331171e-03 9.99994961e-01 5.82756079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62165253199998 meters 0.18640120213787148 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995503e-01 8.18640813e-04 -2.88508977e-03 -4.69225728e+00] [-8.15199192e-04 9.99998955e-01 1.19387310e-03 -5.85048715e+00] [ 2.88606411e-03 -1.19151581e-03 9.99995125e-01 5.82778629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65165253199999 meters 0.18460890632514135 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995108e-01 8.10954701e-04 -3.02098870e-03 -4.69186242e+00] [-8.06936861e-04 9.99998789e-01 1.33095699e-03 -5.85123075e+00] [ 3.02206439e-03 -1.32851273e-03 9.99994551e-01 5.82759588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68165253199999 meters 0.182689429143606 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994683e-01 8.12079710e-04 -3.15820637e-03 -4.69135724e+00] [-8.07530460e-04 9.99998635e-01 1.44146218e-03 -5.85200175e+00] [ 3.15937264e-03 -1.43890417e-03 9.99993974e-01 5.82547585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71165253199999 meters 0.1820815235917239 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994779e-01 7.03624485e-04 -3.15371139e-03 -4.69109979e+00] [-6.99625642e-04 9.99998950e-01 1.26890398e-03 -5.85184989e+00] [ 3.15460091e-03 -1.26669094e-03 9.99994222e-01 5.82138834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74165253199999 meters 0.17731809845018434 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993012e-01 6.91857194e-04 -3.67392778e-03 -4.68984195e+00] [-6.85653464e-04 9.99998338e-01 1.68957356e-03 -5.85400760e+00] [ 3.67509062e-03 -1.68704271e-03 9.99991824e-01 5.82193273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77165253199999 meters 0.18332778849705342 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993328e-01 6.93145171e-04 -3.58661974e-03 -4.69003612e+00] [-6.87274381e-04 9.99998423e-01 1.63783261e-03 -5.85373482e+00] [ 3.58774934e-03 -1.63535669e-03 9.99992227e-01 5.82118463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80165253199999 meters 0.1728909423797199 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993805e-01 4.81127557e-04 -3.48699904e-03 -4.68989287e+00] [-4.76763198e-04 9.99999102e-01 1.25233220e-03 -5.85284271e+00] [ 3.48759844e-03 -1.25066197e-03 9.99993136e-01 5.81440739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83165253199999 meters 0.16856850271124937 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993515e-01 3.27750582e-04 -3.58654860e-03 -4.68927730e+00] [-3.23816931e-04 9.99999346e-01 1.09730465e-03 -5.85294840e+00] [ 3.58690590e-03 -1.09613615e-03 9.99992966e-01 5.80872367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861652532 meters 0.16897630890396143 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993615e-01 6.10322506e-04 -3.52086231e-03 -4.68975511e+00] [-6.04894397e-04 9.99998627e-01 1.54255771e-03 -5.85399551e+00] [ 3.52179893e-03 -1.54041811e-03 9.99992612e-01 5.81400683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891652532 meters 0.17776445638261335 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993281e-01 4.80068348e-04 -3.63426886e-03 -4.68915899e+00] [-4.74997937e-04 9.99998913e-01 1.39590129e-03 -5.85406836e+00] [ 3.63493504e-03 -1.39416564e-03 9.99992422e-01 5.80930319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921652532 meters 0.19361458879531537 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993132e-01 5.13749656e-04 -3.67037846e-03 -4.68905376e+00] [-5.08428860e-04 9.99998819e-01 1.45044471e-03 -5.85437182e+00] [ 3.67111929e-03 -1.44856862e-03 9.99992212e-01 5.80903756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951652532 meters 0.1706634724547584 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993841e-01 5.47073290e-04 -3.46680102e-03 -4.68957158e+00] [-5.42321830e-04 9.99998913e-01 1.37135213e-03 -5.85387249e+00] [ 3.46754748e-03 -1.36946356e-03 9.99993050e-01 5.80866888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98165253199998 meters 0.1687691763928347 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993411e-01 3.45392855e-04 -3.61368563e-03 -4.68887973e+00] [-3.41173220e-04 9.99999259e-01 1.16823321e-03 -5.85379406e+00] [ 3.61408646e-03 -1.16699262e-03 9.99992788e-01 5.80324921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01165253199999 meters 0.16792350481142493 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99993494e-01 2.14718407e-04 -3.60083369e-03 -4.68867462e+00] [-2.11345399e-04 9.99999539e-01 9.37084024e-04 -5.85332303e+00] [ 3.60103324e-03 -9.36316908e-04 9.99993078e-01 5.79914357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04165253199999 meters 0.1615305612119525 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994648e-01 3.25372386e-04 -3.25556359e-03 -4.68956921e+00] [-3.22590027e-04 9.99999582e-01 8.55136095e-04 -5.85283711e+00] [ 3.25584047e-03 -8.54081306e-04 9.99994335e-01 5.80008650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07165253199999 meters 0.18043199899773588 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994507e-01 5.19736137e-04 -3.27341172e-03 -4.68963692e+00] [-5.15733705e-04 9.99999119e-01 1.22343524e-03 -5.85406839e+00] [ 3.27404470e-03 -1.22174031e-03 9.99993894e-01 5.80261333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10165253199999 meters 0.1652652791640042 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99995267e-01 4.36654997e-04 -3.04543513e-03 -4.68996234e+00] [-4.33932630e-04 9.99999506e-01 8.94520702e-04 -5.85309380e+00] [ 3.04582422e-03 -8.93194954e-04 9.99994963e-01 5.79816620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13165253199999 meters 0.17708018471432396 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994541e-01 2.04134680e-04 -3.29804657e-03 -4.68868039e+00] [-2.01581219e-04 9.99999680e-01 7.74548146e-04 -5.85405478e+00] [ 3.29820363e-03 -7.73879093e-04 9.99994261e-01 5.78797950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16165253199999 meters 0.1694132351400007 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.85, Z:0.58 [[ 9.99994890e-01 3.48485758e-05 -3.19677326e-03 -4.68853487e+00] [-3.34951740e-05 9.99999910e-01 4.23417512e-04 -5.85334404e+00] [ 3.19678773e-03 -4.23308272e-04 9.99994801e-01 5.78123134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19165253199999 meters 0.16280847375421875 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99994477e-01 1.47126985e-04 -3.32026401e-03 -4.68823530e+00] [-1.44279258e-04 9.99999622e-01 8.57904035e-04 -5.85508384e+00] [ 3.32038898e-03 -8.57420252e-04 9.99994120e-01 5.78262995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221652532 meters 0.1638836250735687 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991885e-01 -1.43728676e-04 -4.02614241e-03 -4.68605842e+00] [ 1.48324768e-04 9.99999338e-01 1.14128684e-03 -5.85798493e+00] [ 4.02597570e-03 -1.14187475e-03 9.99991244e-01 5.77529327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251652532 meters 0.16517646307269795 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991653e-01 -1.50812254e-04 -4.08300177e-03 -4.68560154e+00] [ 1.55739711e-04 9.99999260e-01 1.20653121e-03 -5.85875340e+00] [ 4.08281679e-03 -1.20715703e-03 9.99990937e-01 5.77013083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281652532 meters 0.17137817976130662 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99992305e-01 -1.03771757e-04 -3.92175042e-03 -4.68606058e+00] [ 1.08587584e-04 9.99999240e-01 1.22778608e-03 -5.85864394e+00] [ 3.92162003e-03 -1.22820249e-03 9.99991556e-01 5.77089565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311652532 meters 0.16352363888338506 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991194e-01 -2.05767643e-06 -4.19671896e-03 -4.68550278e+00] [ 9.18823783e-06 9.99998557e-01 1.69906147e-03 -5.86039762e+00] [ 4.19670940e-03 -1.69908506e-03 9.99989750e-01 5.77294193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34165253199998 meters 0.1550730462777037 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991221e-01 -1.22973360e-05 -4.19027221e-03 -4.68539914e+00] [ 1.94713831e-05 9.99998534e-01 1.71203536e-03 -5.86062838e+00] [ 4.19024501e-03 -1.71210192e-03 9.99989755e-01 5.77108118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37165253199998 meters 0.16339414474800742 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991765e-01 2.42459845e-04 -4.05098435e-03 -4.68581410e+00] [-2.33732551e-04 9.99997651e-01 2.15469821e-03 -5.86220205e+00] [ 4.05149727e-03 -2.15373362e-03 9.99989473e-01 5.77330781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40165253199999 meters 0.16339414474800742 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.86, Z:0.58 [[ 9.99991765e-01 2.42459845e-04 -4.05098435e-03 -4.68581410e+00] [-2.33732551e-04 9.99997651e-01 2.15469821e-03 -5.86220205e+00] [ 4.05149727e-03 -2.15373362e-03 9.99989473e-01 5.77330781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43165253199999 meters 0.1589663005425809 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.58 [[ 9.99989704e-01 1.27284437e-04 -4.53605845e-03 -4.68418565e+00] [-1.15744734e-04 9.99996757e-01 2.54416510e-03 -5.86514187e+00] [ 4.53636758e-03 -2.54361388e-03 9.99986476e-01 5.76739029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46165253199999 meters 0.15414245970039048 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.58 [[ 9.99989075e-01 1.46599506e-04 -4.67212162e-03 -4.68351177e+00] [-1.33524995e-04 9.99996075e-01 2.79859879e-03 -5.86678727e+00] [ 4.67251356e-03 -2.79794437e-03 9.99985169e-01 5.76265736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49165253199999 meters 0.1563677427523078 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99985111e-01 -2.86949844e-04 -5.44927699e-03 -4.68081191e+00] [ 3.03694412e-04 9.99995235e-01 3.07222669e-03 -5.87033430e+00] [ 5.44836945e-03 -3.07383587e-03 9.99980433e-01 5.74878545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52165253199999 meters 0.15968929404126353 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99985932e-01 -2.63934683e-04 -5.29781701e-03 -4.68108757e+00] [ 2.80079949e-04 9.99995319e-01 3.04702129e-03 -5.87028070e+00] [ 5.29698800e-03 -3.04846223e-03 9.99981324e-01 5.74690330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55165253199999 meters 0.14954452097276943 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99986148e-01 -3.05007171e-04 -5.25465760e-03 -4.68098485e+00] [ 3.20903954e-04 9.99995374e-01 3.02469715e-03 -5.87051599e+00] [ 5.25371074e-03 -3.02634149e-03 9.99981620e-01 5.74354052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58165253199999 meters 0.15593913303815624 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99985496e-01 -3.21302510e-04 -5.37634004e-03 -4.68038560e+00] [ 3.38724401e-04 9.99994694e-01 3.23987744e-03 -5.87194939e+00] [ 5.37527054e-03 -3.24165154e-03 9.99980299e-01 5.73959539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611652532 meters 0.15438629335909798 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.87, Z:0.57 [[ 9.99984088e-01 -2.18837651e-04 -5.63694823e-03 -4.67968594e+00] [ 2.40230443e-04 9.99992771e-01 3.79470414e-03 -5.87441556e+00] [ 5.63607705e-03 -3.79599793e-03 9.99976912e-01 5.74028825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641652532 meters 0.15300713271462982 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99982716e-01 -1.40148061e-04 -5.87782097e-03 -4.67901023e+00] [ 1.65092374e-04 9.99990983e-01 4.24353230e-03 -5.87651785e+00] [ 5.87717325e-03 -4.24442933e-03 9.99973721e-01 5.74022758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671652532 meters 0.15365384547691183 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99982416e-01 -6.32474923e-05 -5.92996278e-03 -4.67878574e+00] [ 8.99344045e-05 9.99989870e-01 4.50019208e-03 -5.87767185e+00] [ 5.92961808e-03 -4.50064625e-03 9.99972292e-01 5.73941150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701652532 meters 0.15140451077260333 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99981945e-01 -1.19114469e-04 -6.00800005e-03 -4.67829880e+00] [ 1.46956334e-04 9.99989253e-01 4.63390340e-03 -5.87877180e+00] [ 6.00738352e-03 -4.63470265e-03 9.99971215e-01 5.73544675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73165253199998 meters 0.14788589676632444 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99980079e-01 -5.96715247e-05 -6.31180378e-03 -4.67748792e+00] [ 9.24644103e-05 9.99986500e-01 5.19532139e-03 -5.88131094e+00] [ 6.31140856e-03 -5.19580151e-03 9.99966584e-01 5.73611385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76165253199999 meters 0.14952179437561608 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99977665e-01 -6.52777964e-05 -6.68314421e-03 -4.67642771e+00] [ 1.03102765e-04 9.99983979e-01 5.65956837e-03 -5.88371211e+00] [ 6.68266769e-03 -5.66013101e-03 9.99961652e-01 5.73511654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79165253199999 meters 0.13834128652769745 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99976776e-01 -6.56007246e-05 -6.81495351e-03 -4.67596713e+00] [ 1.05581500e-04 9.99982787e-01 5.86643071e-03 -5.88480733e+00] [ 6.81445136e-03 -5.86701400e-03 9.99959570e-01 5.73373999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82165253199999 meters 0.15217310392059405 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99975411e-01 -3.97287356e-04 -7.00138019e-03 -4.67482324e+00] [ 4.35965778e-04 9.99984649e-01 5.52373953e-03 -5.88479373e+00] [ 6.99907820e-03 -5.52665607e-03 9.99960234e-01 5.72254665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85165253199999 meters 0.13974691354108676 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.88, Z:0.57 [[ 9.99977126e-01 -7.09610728e-04 -6.72640594e-03 -4.67492914e+00] [ 7.41372444e-04 9.99988583e-01 4.72062792e-03 -5.88260063e+00] [ 6.72297934e-03 -4.72550671e-03 9.99966235e-01 5.71168229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88165253199999 meters 0.14132292708047853 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99980050e-01 -9.67069563e-04 -6.24221672e-03 -4.67553633e+00] [ 9.90467973e-04 9.99992492e-01 3.74641127e-03 -5.87962232e+00] [ 6.23854681e-03 -3.75251925e-03 9.99973499e-01 5.70022882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91165253199999 meters 0.15483588941220236 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99982523e-01 -1.15264615e-03 -5.79873658e-03 -4.67626234e+00] [ 1.17009805e-03 9.99994794e-01 3.00711164e-03 -5.87723428e+00] [ 5.79524025e-03 -3.01384418e-03 9.99978666e-01 5.69303886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94165253199999 meters 0.14246043450579043 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99982893e-01 -1.15510740e-03 -5.73410333e-03 -4.67634989e+00] [ 1.17207926e-03 9.99994940e-01 2.95733323e-03 -5.87722601e+00] [ 5.73065828e-03 -2.96400346e-03 9.99979187e-01 5.69205236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971652532 meters 0.15276399051505932 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99984474e-01 -8.61991894e-04 -5.50532585e-03 -4.67732917e+00] [ 8.80025821e-04 9.99994253e-01 3.27414200e-03 -5.87765285e+00] [ 5.50247193e-03 -3.27893599e-03 9.99979485e-01 5.69893515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001652532 meters 0.14407995066582927 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99985279e-01 -7.37495306e-04 -5.37568045e-03 -4.67773818e+00] [ 7.55752833e-04 9.99993951e-01 3.39507948e-03 -5.87796836e+00] [ 5.37314407e-03 -3.39909219e-03 9.99979788e-01 5.70049402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031652532 meters 0.153076706427041 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99986545e-01 -7.34770320e-04 -5.13522354e-03 -4.67817138e+00] [ 7.51307034e-04 9.99994537e-01 3.21906515e-03 -5.87746929e+00] [ 5.13283021e-03 -3.22287997e-03 9.99981633e-01 5.69709963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061652532 meters 0.15078713518067466 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99986975e-01 -8.91238342e-04 -5.02554665e-03 -4.67816160e+00] [ 9.05657059e-04 9.99995478e-01 2.86753871e-03 -5.87658554e+00] [ 5.02296826e-03 -2.87205278e-03 9.99983260e-01 5.69201939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09165253199998 meters 0.15755935244395428 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99987379e-01 -7.91791018e-04 -4.96136460e-03 -4.67844754e+00] [ 8.06810754e-04 9.99995096e-01 3.02606989e-03 -5.87688934e+00] [ 4.95894426e-03 -3.03003458e-03 9.99983114e-01 5.69381565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12165253199998 meters 0.15990173563796828 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99986680e-01 -9.69068362e-04 -5.06962861e-03 -4.67783437e+00] [ 9.83481858e-04 9.99995480e-01 2.84138698e-03 -5.87688546e+00] [ 5.06685219e-03 -2.84633502e-03 9.99983113e-01 5.68846768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15165253199999 meters 0.14712455769991675 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988374e-01 -9.52897726e-04 -4.72695682e-03 -4.67855719e+00] [ 9.65196407e-04 9.99996154e-01 2.60021940e-03 -5.87600251e+00] [ 4.72446089e-03 -2.60475161e-03 9.99985447e-01 5.68593381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18165253199999 meters 0.15968534670245407 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988394e-01 -9.92705284e-04 -4.71440214e-03 -4.67842774e+00] [ 1.00492344e-03 9.99996141e-01 2.59000557e-03 -5.87625868e+00] [ 4.71181283e-03 -2.59471312e-03 9.99985533e-01 5.68352412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21165253199999 meters 0.15550084789276403 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988471e-01 -8.23009562e-04 -4.73084611e-03 -4.67860907e+00] [ 8.36934815e-04 9.99995321e-01 2.94227585e-03 -5.87724297e+00] [ 4.72840245e-03 -2.94620134e-03 9.99984481e-01 5.68758129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24165253199999 meters 0.15355799157829586 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99989216e-01 -4.87847919e-04 -4.61840818e-03 -4.67945604e+00] [ 5.03908626e-04 9.99993828e-01 3.47701704e-03 -5.87833304e+00] [ 4.61668342e-03 -3.47930680e-03 9.99983290e-01 5.69786678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27165253199999 meters 0.173453978826609 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99990643e-01 -4.42029422e-04 -4.30328261e-03 -4.68022156e+00] [ 4.56306581e-04 9.99994394e-01 3.31732060e-03 -5.87759950e+00] [ 4.30179213e-03 -3.31925318e-03 9.99985238e-01 5.69726560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30165253199999 meters 0.15873320429229235 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99991129e-01 -5.73000585e-04 -4.17302547e-03 -4.68030751e+00] [ 5.85638637e-04 9.99995244e-01 3.02791858e-03 -5.87691015e+00] [ 4.17127062e-03 -3.03033560e-03 9.99986709e-01 5.69319109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33165253199999 meters 0.16489707461936676 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988311e-01 -7.69104678e-04 -4.77341842e-03 -4.67856960e+00] [ 7.85111943e-04 9.99994072e-01 3.35245008e-03 -5.87938448e+00] [ 4.77081174e-03 -3.35615856e-03 9.99982988e-01 5.69062256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361652532 meters 0.15120155221527085 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988009e-01 -4.77590281e-04 -4.87373824e-03 -4.67860174e+00] [ 4.96987556e-04 9.99991958e-01 3.97952368e-03 -5.88147952e+00] [ 4.87179846e-03 -3.98189815e-03 9.99980205e-01 5.69645067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391652532 meters 0.15385465286944638 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99988803e-01 -2.73046024e-04 -4.72436556e-03 -4.67921729e+00] [ 2.93066879e-04 9.99990978e-01 4.23761399e-03 -5.88201334e+00] [ 4.72316588e-03 -4.23895110e-03 9.99979861e-01 5.70091819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421652532 meters 0.1533271438319771 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99989872e-01 -3.32050834e-04 -4.48842336e-03 -4.67968112e+00] [ 3.49823918e-04 9.99992100e-01 3.95955614e-03 -5.88107614e+00] [ 4.48707313e-03 -3.96108619e-03 9.99982088e-01 5.69869883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451652532 meters 0.1620954922139523 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99991368e-01 -4.18773394e-04 -4.13382775e-03 -4.68040555e+00] [ 4.33096207e-04 9.99993905e-01 3.46449551e-03 -5.87927974e+00] [ 4.13235172e-03 -3.46625595e-03 9.99985454e-01 5.69513798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48165253199998 meters 0.1632352206928378 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992317e-01 -3.64422730e-04 -3.90303290e-03 -4.68087380e+00] [ 3.77767788e-04 9.99994084e-01 3.41895951e-03 -5.87923750e+00] [ 3.90176387e-03 -3.42040769e-03 9.99986538e-01 5.69344908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51165253199999 meters 0.15861263160924838 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992377e-01 -1.97949597e-04 -3.89966310e-03 -4.68105900e+00] [ 2.12687737e-04 9.99992836e-01 3.77928468e-03 -5.88032258e+00] [ 3.89888705e-03 -3.78008528e-03 9.99985255e-01 5.69706901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54165253199999 meters 0.15483685062947022 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992555e-01 6.44300812e-05 -3.85814621e-03 -4.68144127e+00] [-4.79554735e-05 9.99990882e-01 4.27002408e-03 -5.88176392e+00] [ 3.85838616e-03 -4.26980727e-03 9.99983441e-01 5.70283984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57165253199999 meters 0.15719916638390102 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992987e-01 2.47234414e-05 -3.74509488e-03 -4.68149427e+00] [-9.14365405e-06 9.99991347e-01 4.16001145e-03 -5.88170849e+00] [ 3.74516532e-03 -4.15994803e-03 9.99984334e-01 5.69918550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60165253199999 meters 0.1546514431766208 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992861e-01 -2.16681302e-04 -3.77237389e-03 -4.68097191e+00] [ 2.31057618e-04 9.99992712e-01 3.81092802e-03 -5.88122640e+00] [ 3.77152064e-03 -3.81177245e-03 9.99985623e-01 5.69159648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63165253199999 meters 0.15603005183956148 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992609e-01 -4.81603757e-04 -3.81438444e-03 -4.68046989e+00] [ 4.94443891e-04 9.99994213e-01 3.36601283e-03 -5.88031796e+00] [ 3.81274128e-03 -3.36787395e-03 9.99987060e-01 5.68466549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66165253199999 meters 0.15281054492298268 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99993347e-01 -4.91712949e-04 -3.61442322e-03 -4.68096029e+00] [ 5.03124904e-04 9.99994890e-01 3.15710669e-03 -5.87948114e+00] [ 3.61285236e-03 -3.15890419e-03 9.99988484e-01 5.68432121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69165253199999 meters 0.1503238471680068 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99993439e-01 -4.44848463e-04 -3.59494035e-03 -4.68100872e+00] [ 4.56641918e-04 9.99994515e-01 3.28041569e-03 -5.88000327e+00] [ 3.59346134e-03 -3.28203577e-03 9.99988158e-01 5.68491842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721652532 meters 0.16085848961102853 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99993655e-01 -2.42904623e-04 -3.55407976e-03 -4.68137802e+00] [ 2.55735871e-04 9.99993450e-01 3.61027818e-03 -5.88081932e+00] [ 3.55317952e-03 -3.61116418e-03 9.99987167e-01 5.68959284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751652532 meters 0.1707671318000969 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99993527e-01 -3.05343994e-04 -3.58511665e-03 -4.68112255e+00] [ 3.18162142e-04 9.99993558e-01 3.57535260e-03 -5.88107623e+00] [ 3.58400184e-03 -3.57647010e-03 9.99987182e-01 5.68711867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781652532 meters 0.1553050828850355 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992520e-01 -6.66230459e-04 -3.80990955e-03 -4.68005294e+00] [ 6.78415009e-04 9.99994657e-01 3.19772297e-03 -5.88075117e+00] [ 3.80775878e-03 -3.20028376e-03 9.99987630e-01 5.67871841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811652532 meters 0.15481052049800934 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992652e-01 -8.05344738e-04 -3.74810906e-03 -4.67995916e+00] [ 8.16398649e-04 9.99995320e-01 2.94860174e-03 -5.88021881e+00] [ 3.74571688e-03 -2.95164003e-03 9.99988629e-01 5.67458538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84165253199998 meters 0.15601002750971005 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99992987e-01 -1.00660372e-03 -3.60719540e-03 -4.67998446e+00] [ 1.01554130e-03 9.99996417e-01 2.47673430e-03 -5.87899188e+00] [ 3.60468939e-03 -2.48038019e-03 9.99990427e-01 5.66885466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87165253199998 meters 0.14980517352341172 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99994483e-01 -1.02965385e-03 -3.15819649e-03 -4.68083897e+00] [ 1.03611399e-03 9.99997373e-01 2.04456131e-03 -5.87763775e+00] [ 3.15608300e-03 -2.04782228e-03 9.99992923e-01 5.66394633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90165253199999 meters 0.16232733421794687 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99994895e-01 -1.03056085e-03 -3.02439046e-03 -4.68115196e+00] [ 1.03639357e-03 9.99997605e-01 1.92762922e-03 -5.87722081e+00] [ 3.02239667e-03 -1.93075383e-03 9.99993569e-01 5.66331222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93165253199999 meters 0.163511864052869 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995487e-01 -1.00921881e-03 -2.82958265e-03 -4.68166866e+00] [ 1.01437283e-03 9.99997828e-01 1.82063395e-03 -5.87669239e+00] [ 2.82773909e-03 -1.82349598e-03 9.99994339e-01 5.66381525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96165253199999 meters 0.1580950345638114 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99996072e-01 -8.21030670e-04 -2.68003352e-03 -4.68224622e+00] [ 8.26514551e-04 9.99997566e-01 2.04573302e-03 -5.87718052e+00] [ 2.67834739e-03 -2.04794008e-03 9.99994316e-01 5.66706020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99165253199999 meters 0.15669264983317988 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995548e-01 -7.03056113e-04 -2.90010436e-03 -4.68183191e+00] [ 7.10388232e-04 9.99996552e-01 2.52797081e-03 -5.87912943e+00] [ 2.89831706e-03 -2.53001976e-03 9.99992599e-01 5.67068914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02165253199999 meters 0.16357847003697398 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995131e-01 -6.89724380e-04 -3.04330295e-03 -4.68139968e+00] [ 6.98058224e-04 9.99996007e-01 2.73820872e-03 -5.88019989e+00] [ 3.04140219e-03 -2.74031979e-03 9.99991620e-01 5.67036217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05165253199999 meters 0.14805709909684545 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995079e-01 -5.81433357e-04 -3.08279163e-03 -4.68135458e+00] [ 5.90702015e-04 9.99995306e-01 3.00652200e-03 -5.88117250e+00] [ 3.08102906e-03 -3.00832821e-03 9.99990729e-01 5.67166223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08165253199999 meters 0.17218272865031756 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995116e-01 -7.24941863e-04 -3.04020412e-03 -4.68112979e+00] [ 7.33315177e-04 9.99995939e-01 2.75398476e-03 -5.88079079e+00] [ 3.03819530e-03 -2.75620073e-03 9.99991586e-01 5.66613559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111652532 meters 0.1533216101410632 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995774e-01 -7.33184748e-04 -2.81326692e-03 -4.68155310e+00] [ 7.40493189e-04 9.99996352e-01 2.59768693e-03 -5.88016504e+00] [ 2.81135208e-03 -2.59975916e-03 9.99992669e-01 5.66323245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141652532 meters 0.1633837682401993 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995693e-01 -7.77297551e-04 -2.83028221e-03 -4.68134933e+00] [ 7.84571126e-04 9.99996391e-01 2.56970865e-03 -5.88036477e+00] [ 2.82827456e-03 -2.57191814e-03 9.99992693e-01 5.66075860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171652532 meters 0.16557530925390254 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995474e-01 -7.65788992e-04 -2.90946106e-03 -4.68109662e+00] [ 7.73651127e-04 9.99996050e-01 2.70210139e-03 -5.88112590e+00] [ 2.90738033e-03 -2.70434007e-03 9.99992117e-01 5.66043442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20165253199998 meters 0.14730774815203782 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995414e-01 -5.43332072e-04 -2.97948507e-03 -4.68123994e+00] [ 5.52758749e-04 9.99994842e-01 3.16395076e-03 -5.88262820e+00] [ 2.97775062e-03 -3.16558318e-03 9.99990556e-01 5.66652876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23165253199998 meters 0.1588205916943273 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995521e-01 -4.98678075e-04 -2.95120985e-03 -4.68125263e+00] [ 5.08322627e-04 9.99994530e-01 3.26815209e-03 -5.88317653e+00] [ 2.94956395e-03 -3.26963762e-03 9.99990305e-01 5.66592710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26165253199999 meters 0.15094111096349477 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.88, Z:0.57 [[ 9.99995337e-01 -5.65962938e-04 -3.00100987e-03 -4.68092389e+00] [ 5.75715972e-04 9.99994553e-01 3.25005004e-03 -5.88347375e+00] [ 2.99915412e-03 -3.25176262e-03 9.99990216e-01 5.66290584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29165253199999 meters 0.16010645380046834 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993912e-01 -7.79745638e-04 -3.40130356e-03 -4.67951374e+00] [ 7.91274215e-04 9.99993943e-01 3.38943056e-03 -5.88519371e+00] [ 3.39864006e-03 -3.39210129e-03 9.99988471e-01 5.65769824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32165253199999 meters 0.16010645380046834 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993912e-01 -7.79745638e-04 -3.40130356e-03 -4.67951374e+00] [ 7.91274215e-04 9.99993943e-01 3.38943056e-03 -5.88519371e+00] [ 3.39864006e-03 -3.39210129e-03 9.99988471e-01 5.65769824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35165253199999 meters 0.1577849761505094 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993741e-01 -7.01077645e-04 -3.46785660e-03 -4.67938091e+00] [ 7.13606837e-04 9.99993218e-01 3.61303289e-03 -5.88605618e+00] [ 3.46530007e-03 -3.61548496e-03 9.99987460e-01 5.65874736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38165253199999 meters 0.15612114429233265 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993822e-01 -6.78775450e-04 -3.44905678e-03 -4.67931362e+00] [ 6.91524844e-04 9.99992928e-01 3.69664001e-03 -5.88661598e+00] [ 3.44652320e-03 -3.69900228e-03 9.99987219e-01 5.65735766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41165253199999 meters 0.15778532364530937 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993100e-01 -7.75919516e-04 -3.63278568e-03 -4.67866255e+00] [ 7.89448625e-04 9.99992753e-01 3.72421789e-03 -5.88720997e+00] [ 3.62986966e-03 -3.72706009e-03 9.99986466e-01 5.65510024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44165253199999 meters 0.15459362191781972 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993290e-01 -8.08126797e-04 -3.57299981e-03 -4.67859747e+00] [ 8.21167114e-04 9.99993003e-01 3.64972364e-03 -5.88731049e+00] [ 3.57002537e-03 -3.65263318e-03 9.99986957e-01 5.65182822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471652532 meters 0.1568824792949242 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99993168e-01 -6.72567378e-04 -3.63487320e-03 -4.67864705e+00] [ 6.87166556e-04 9.99991697e-01 4.01666468e-03 -5.88846531e+00] [ 3.63214154e-03 -4.01913500e-03 9.99985327e-01 5.65594605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501652532 meters 0.15306465695550556 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99991326e-01 -7.49769084e-04 -4.09702537e-03 -4.67744360e+00] [ 7.67696876e-04 9.99990131e-01 4.37598784e-03 -5.89045392e+00] [ 4.09370396e-03 -4.37909516e-03 9.99982032e-01 5.65634575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531652532 meters 0.1596754220058413 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99990377e-01 -6.78419415e-04 -4.33415121e-03 -4.67696419e+00] [ 6.99050019e-04 9.99988426e-01 4.76026984e-03 -5.89208131e+00] [ 4.33087159e-03 -4.76325382e-03 9.99979277e-01 5.65935447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561652532 meters 0.15693175516635327 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99990417e-01 -6.45733357e-04 -4.33003233e-03 -4.67685990e+00] [ 6.66505674e-04 9.99988270e-01 4.79754010e-03 -5.89258674e+00] [ 4.32688360e-03 -4.80038011e-03 9.99979117e-01 5.65768694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59165253199998 meters 0.16035068473218 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99990796e-01 -8.41119901e-04 -4.20725586e-03 -4.67679283e+00] [ 8.59513212e-04 9.99990074e-01 4.37191116e-03 -5.89158275e+00] [ 4.20353680e-03 -4.37548711e-03 9.99981593e-01 5.65118160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62165253199998 meters 0.16653053357806127 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.56 [[ 9.99990772e-01 -9.90138652e-04 -4.18032971e-03 -4.67659979e+00] [ 1.00730845e-03 9.99991058e-01 4.10717690e-03 -5.89105036e+00] [ 4.17622566e-03 -4.11134988e-03 9.99982828e-01 5.64695985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65165253199999 meters 0.16610876180649042 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.56 [[ 9.99990672e-01 -1.04057936e-03 -4.19198252e-03 -4.67652576e+00] [ 1.05747963e-03 9.99991315e-01 4.03137140e-03 -5.89097238e+00] [ 4.18775115e-03 -4.03576673e-03 9.99983088e-01 5.64651073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68165253199999 meters 0.1616753590982731 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99980007e-01 -4.98768629e-03 -3.88686533e-03 -4.67759883e+00] [ 4.98828631e-03 9.99987548e-01 1.44691840e-04 -5.89215832e+00] [ 3.88609525e-03 -1.64077744e-04 9.99992436e-01 5.65203999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71165253199999 meters 0.1582580071022972 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99981783e-01 -4.47036528e-03 -4.05588696e-03 -4.67782216e+00] [ 4.47504130e-03 9.99989332e-01 1.14455611e-03 -5.89529377e+00] [ 4.05072711e-03 -1.16268552e-03 9.99991120e-01 5.66305337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74165253199999 meters 0.1593849772315272 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99983074e-01 -4.15970260e-03 -4.06793356e-03 -4.67809615e+00] [ 4.16654955e-03 9.99989915e-01 1.67612988e-03 -5.89692658e+00] [ 4.06092033e-03 -1.69305075e-03 9.99990321e-01 5.66824614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77165253199999 meters 0.1587388504297545 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99982458e-01 -4.13337890e-03 -4.24247351e-03 -4.67754883e+00] [ 4.14155825e-03 9.99989579e-01 1.92099615e-03 -5.89820595e+00] [ 4.23448909e-03 -1.93853290e-03 9.99989156e-01 5.66638151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80165253199999 meters 0.15448958107733754 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99981541e-01 -4.10367318e-03 -4.48074125e-03 -4.67699042e+00] [ 4.11370898e-03 9.99989046e-01 2.23284742e-03 -5.89940788e+00] [ 4.47152929e-03 -2.25123867e-03 9.99987469e-01 5.66716321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83165253199999 meters 0.15314545936045412 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99980568e-01 -4.13769119e-03 -4.66300896e-03 -4.67642978e+00] [ 4.14867278e-03 9.99988638e-01 2.34783710e-03 -5.90017529e+00] [ 4.65324135e-03 -2.36713678e-03 9.99986372e-01 5.66572471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861652532 meters 0.15255921955691712 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99981286e-01 -3.95039001e-03 -4.67141764e-03 -4.67659174e+00] [ 3.96291138e-03 9.99988572e-01 2.67421197e-03 -5.90113890e+00] [ 4.66080008e-03 -2.69267434e-03 9.99985513e-01 5.66877968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891652532 meters 0.15156023055371148 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99981510e-01 -3.80417328e-03 -4.74421295e-03 -4.67649238e+00] [ 3.81849922e-03 9.99988167e-01 3.01427386e-03 -5.90240570e+00] [ 4.73268999e-03 -3.03233390e-03 9.99984203e-01 5.67073519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921652532 meters 0.1485007851040503 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99979403e-01 -3.74322824e-03 -5.21370918e-03 -4.67523287e+00] [ 3.76157456e-03 9.99986753e-01 3.51351006e-03 -5.90539418e+00] [ 5.20048825e-03 -3.53304945e-03 9.99980236e-01 5.67007945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95165253199998 meters 0.14526573637664453 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99980895e-01 -3.32167139e-03 -5.21316764e-03 -4.67574548e+00] [ 3.34391684e-03 9.99985317e-01 4.26426574e-03 -5.90744728e+00] [ 5.19892660e-03 -4.28161666e-03 9.99977319e-01 5.67904259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98165253199998 meters 0.14732972023750934 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99979921e-01 -3.19998122e-03 -5.46970575e-03 -4.67533345e+00] [ 3.22587557e-03 9.99983601e-01 4.73189245e-03 -5.90919795e+00] [ 5.45447408e-03 -4.74944203e-03 9.99973845e-01 5.68394713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01165253199999 meters 0.1464074468618916 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99979334e-01 -3.05177763e-03 -5.65844853e-03 -4.67502453e+00] [ 3.08109311e-03 9.99981840e-01 5.17937498e-03 -5.91085199e+00] [ 5.64253947e-03 -5.19670215e-03 9.99970578e-01 5.68750677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04165253199999 meters 0.1476449176069963 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99978128e-01 -3.11493668e-03 -5.83437345e-03 -4.67436198e+00] [ 3.14556609e-03 9.99981282e-01 5.24802095e-03 -5.91170554e+00] [ 5.81791698e-03 -5.26625858e-03 9.99969209e-01 5.68408453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07165253199999 meters 0.14811119613597395 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99977756e-01 -3.31638340e-03 -5.78689305e-03 -4.67408262e+00] [ 3.34452392e-03 9.99982598e-01 4.85992105e-03 -5.91092695e+00] [ 5.77067498e-03 -4.87916735e-03 9.99971446e-01 5.67697371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10165253199999 meters 0.14564038632650492 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99976966e-01 -3.57670038e-03 -5.76847692e-03 -4.67364776e+00] [ 3.60211952e-03 9.99983823e-01 4.40220667e-03 -5.91003765e+00] [ 5.75263823e-03 -4.42288401e-03 9.99973672e-01 5.66874117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13165253199999 meters 0.14329006602604435 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99974985e-01 -3.61777704e-03 -6.07785822e-03 -4.67296535e+00] [ 3.64577539e-03 9.99982765e-01 4.60186908e-03 -5.91098071e+00] [ 6.06110493e-03 -4.62391247e-03 9.99970941e-01 5.67105256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16165253199999 meters 0.14498487950539451 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99975875e-01 -3.55202447e-03 -5.96933267e-03 -4.67340472e+00] [ 3.57942518e-03 9.99983079e-01 4.58584856e-03 -5.91066941e+00] [ 5.95294261e-03 -4.60710470e-03 9.99971668e-01 5.67336666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19165253199999 meters 0.14882918374407647 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99977017e-01 -3.61421594e-03 -5.73613213e-03 -4.67392633e+00] [ 3.63841978e-03 9.99984499e-01 4.21472863e-03 -5.90934319e+00] [ 5.72081028e-03 -4.23550222e-03 9.99974666e-01 5.67137805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221652532 meters 0.15243494325359194 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.91, Z:0.57 [[ 9.99978988e-01 -3.62218204e-03 -5.37621762e-03 -4.67489910e+00] [ 3.64291879e-03 9.99985944e-01 3.85235858e-03 -5.90768164e+00] [ 5.36218810e-03 -3.87186276e-03 9.99978128e-01 5.67132490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251652532 meters 0.1468775153926649 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99980661e-01 -3.48089027e-03 -5.15368424e-03 -4.67601774e+00] [ 3.50060003e-03 9.99986575e-01 3.82033194e-03 -5.90654603e+00] [ 5.14031690e-03 -3.83829904e-03 9.99979422e-01 5.67951540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281652532 meters 0.14983630533624762 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99981635e-01 -3.29110439e-03 -5.08903670e-03 -4.67656290e+00] [ 3.31174690e-03 9.99986302e-01 4.05317859e-03 -5.90682418e+00] [ 5.07562756e-03 -4.06995776e-03 9.99978837e-01 5.68563856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311652532 meters 0.14576837594803757 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.91, Z:0.57 [[ 9.99983059e-01 -3.23289704e-03 -4.84043656e-03 -4.67724030e+00] [ 3.25171120e-03 9.99987170e-01 3.88406131e-03 -5.90608928e+00] [ 4.82781768e-03 -3.89973521e-03 9.99980742e-01 5.68566826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34165253199998 meters 0.15303647870498416 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99986398e-01 -3.09015885e-03 -4.20163567e-03 -4.67903317e+00] [ 3.10472737e-03 9.99989176e-01 3.46525705e-03 -5.90361452e+00] [ 4.19088199e-03 -3.47825485e-03 9.99985169e-01 5.68654790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37165253199998 meters 0.1541322864184233 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99986179e-01 -3.39972175e-03 -4.01044035e-03 -4.67905571e+00] [ 3.41086008e-03 9.99990336e-01 2.77377105e-03 -5.90161528e+00] [ 4.00097155e-03 -2.78741176e-03 9.99988111e-01 5.67807577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40165253199999 meters 0.15305649363597001 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99986531e-01 -3.38975511e-03 -3.93040118e-03 -4.67942372e+00] [ 3.40042576e-03 9.99990543e-01 2.71140532e-03 -5.90099402e+00] [ 3.92117300e-03 -2.72473384e-03 9.99988600e-01 5.68026384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43165253199999 meters 0.1557450600533296 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99987950e-01 -3.25704973e-03 -3.67307633e-03 -4.68035872e+00] [ 3.26696228e-03 9.99991029e-01 2.69594130e-03 -5.90032141e+00] [ 3.66426257e-03 -2.70790861e-03 9.99989620e-01 5.68423447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46165253199999 meters 0.15598949739573523 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99989640e-01 -3.27325958e-03 -3.16316511e-03 -4.68151014e+00] [ 3.27994319e-03 9.99992395e-01 2.11007762e-03 -5.89801343e+00] [ 3.15623422e-03 -2.12043076e-03 9.99992771e-01 5.68005051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49165253199999 meters 0.1529443081123207 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99990488e-01 -3.26080387e-03 -2.89677630e-03 -4.68220414e+00] [ 3.26624216e-03 9.99992909e-01 1.87461669e-03 -5.89688098e+00] [ 2.89064300e-03 -1.88406043e-03 9.99994047e-01 5.67937787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52165253199999 meters 0.15522701080402962 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.90, Z:0.57 [[ 9.99991347e-01 -3.23707319e-03 -2.61292546e-03 -4.68304433e+00] [ 3.24144272e-03 9.99993352e-01 1.66977624e-03 -5.89565089e+00] [ 2.60750290e-03 -1.67823144e-03 9.99995192e-01 5.68048023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55165253199999 meters 0.16189892961270191 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99991610e-01 -3.25657520e-03 -2.48468960e-03 -4.68345504e+00] [ 3.26030934e-03 9.99993560e-01 1.50029092e-03 -5.89480303e+00] [ 2.47978779e-03 -1.50837919e-03 9.99995788e-01 5.68124532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58165253199999 meters 0.15949763248093024 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99991726e-01 -3.25551987e-03 -2.43924277e-03 -4.68378253e+00] [ 3.25897191e-03 9.99993692e-01 1.41257364e-03 -5.89405840e+00] [ 2.43462872e-03 -1.42051138e-03 9.99996027e-01 5.68392754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611652532 meters 0.14536187567644238 Centerline is valid? [False, False] Translation: X:-4.68, Y:-5.89, Z:0.57 [[ 9.99992022e-01 -3.35636404e-03 -2.16568943e-03 -4.68426882e+00] [ 3.35851633e-03 9.99993869e-01 9.90940801e-04 -5.89265748e+00] [ 2.16235019e-03 -9.98206399e-04 9.99997164e-01 5.67958888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641652532 meters 0.15954633454389497 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99994022e-01 -3.16393185e-03 -1.39460817e-03 -4.68634704e+00] [ 3.16463469e-03 9.99994867e-01 5.02052024e-04 -5.88991092e+00] [ 1.39301256e-03 -5.06462448e-04 9.99998902e-01 5.67946658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671652532 meters 0.16062965694196893 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99994731e-01 -3.05006057e-03 -1.11090231e-03 -4.68730343e+00] [ 3.05053559e-03 9.99995256e-01 4.26153003e-04 -5.88899999e+00] [ 1.10959725e-03 -4.29539604e-04 9.99999292e-01 5.68221379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70165253199998 meters 0.1614132669610435 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99995683e-01 -2.84064908e-03 -7.51420007e-04 -4.68856131e+00] [ 2.84099138e-03 9.99995861e-01 4.54865902e-04 -5.88820849e+00] [ 7.50124782e-04 -4.56998716e-04 9.99999614e-01 5.68679199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73165253199998 meters 0.1488437785375215 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99995407e-01 -2.95978060e-03 -6.52895344e-04 -4.68869963e+00] [ 2.95988934e-03 9.99995606e-01 1.65645849e-04 -5.88725715e+00] [ 6.52402200e-04 -1.67577587e-04 9.99999773e-01 5.68435738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76165253199999 meters 0.147693097917261 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99996299e-01 -2.69823001e-03 -3.49632834e-04 -4.68982080e+00] [ 2.69833856e-03 9.99996311e-01 3.10370764e-04 -5.88703144e+00] [ 3.48794093e-04 -3.11313043e-04 9.99999891e-01 5.68900027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79165253199999 meters 0.15774758710127823 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997451e-01 -2.24360198e-03 2.53338739e-04 -4.69199042e+00] [ 2.24347856e-03 9.99997365e-01 4.86392134e-04 -5.88616641e+00] [-2.54429342e-04 -4.85822534e-04 9.99999850e-01 5.69757653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82165253199999 meters 0.15409510702046403 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997355e-01 -2.25304321e-03 4.62759299e-04 -4.69252889e+00] [ 2.25288807e-03 9.99997406e-01 3.35499099e-04 -5.88538154e+00] [-4.63513993e-04 -3.34455667e-04 9.99999837e-01 5.69704697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85165253199999 meters 0.14931766155851686 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997628e-01 -2.14052525e-03 4.02457024e-04 -4.69245936e+00] [ 2.14026755e-03 9.99997505e-01 6.39675245e-04 -5.88638639e+00] [-4.03825261e-04 -6.38812362e-04 9.99999714e-01 5.69831983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88165253199999 meters 0.1506055003218721 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997460e-01 -2.21390158e-03 4.21594621e-04 -4.69262285e+00] [ 2.21365734e-03 9.99997382e-01 5.78903282e-04 -5.88573696e+00] [-4.22875152e-04 -5.77968546e-04 9.99999744e-01 5.70003506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91165253199999 meters 0.14329187763517062 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997517e-01 -2.13532216e-03 6.37874610e-04 -4.69326896e+00] [ 2.13495959e-03 9.99997559e-01 5.68535017e-04 -5.88533661e+00] [-6.39087058e-04 -5.67171769e-04 9.99999635e-01 5.70106483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94165253199999 meters 0.1678638073252976 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.88, Z:0.57 [[ 9.99997525e-01 -2.03474893e-03 9.00087407e-04 -4.69403571e+00] [ 2.03426167e-03 9.99997784e-01 5.41928182e-04 -5.88484137e+00] [-9.01188100e-04 -5.40095828e-04 9.99999448e-01 5.70206210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971652532 meters 0.16106971100305925 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997546e-01 -1.94500601e-03 1.06019404e-03 -4.69417466e+00] [ 1.94430423e-03 9.99997890e-01 6.62557974e-04 -5.88565978e+00] [-1.06148048e-03 -6.60495008e-04 9.99999219e-01 5.69759443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001652532 meters 0.14394936311756493 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99997854e-01 -1.82604267e-03 9.78713934e-04 -4.69413405e+00] [ 1.82504563e-03 9.99997816e-01 1.01865357e-03 -5.88670978e+00] [-9.80571901e-04 -1.01686519e-03 9.99999002e-01 5.70079276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031652532 meters 0.14130898522195415 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99998385e-01 -1.50583512e-03 9.81064684e-04 -4.69457748e+00] [ 1.50423310e-03 9.99997538e-01 1.63163707e-03 -5.88819050e+00] [-9.83519244e-04 -1.63015869e-03 9.99998188e-01 5.70825901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061652532 meters 0.1535674991355738 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.89, Z:0.57 [[ 9.99998564e-01 -1.36315143e-03 1.00668482e-03 -4.69481743e+00] [ 1.36123540e-03 9.99997266e-01 1.90155309e-03 -5.88887843e+00] [-1.00927417e-03 -1.90018003e-03 9.99997685e-01 5.71133709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09165253199998 meters 0.15536924388248777 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998459e-01 -1.27299644e-03 1.20906379e-03 -4.69538437e+00] [ 1.27069945e-03 9.99997390e-01 1.89868252e-03 -5.88867652e+00] [-1.21147765e-03 -1.89714324e-03 9.99997467e-01 5.71195568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12165253199998 meters 0.1537418328087009 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99997937e-01 -1.31403308e-03 1.54908586e-03 -4.69582801e+00] [ 1.31150210e-03 9.99997805e-01 1.63373967e-03 -5.88827140e+00] [-1.55122924e-03 -1.63170467e-03 9.99997466e-01 5.70489129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15165253199999 meters 0.15240364016823846 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998355e-01 -1.16528660e-03 1.38965389e-03 -4.69557444e+00] [ 1.16235145e-03 9.99997096e-01 2.11108735e-03 -5.88984476e+00] [-1.39210987e-03 -2.10946861e-03 9.99996806e-01 5.70723696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18165253199999 meters 0.14191286231918504 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998453e-01 -1.04866972e-03 1.41210575e-03 -4.69578664e+00] [ 1.04538525e-03 9.99996752e-01 2.32467526e-03 -5.89033477e+00] [-1.41453898e-03 -2.32319547e-03 9.99996301e-01 5.70968829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21165253199999 meters 0.14191286231918504 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998453e-01 -1.04866972e-03 1.41210575e-03 -4.69578664e+00] [ 1.04538525e-03 9.99996752e-01 2.32467526e-03 -5.89033477e+00] [-1.41453898e-03 -2.32319547e-03 9.99996301e-01 5.70968829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24165253199999 meters 0.148297279959689 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998501e-01 -8.67017289e-04 1.49895120e-03 -4.69599745e+00] [ 8.62976299e-04 9.99995998e-01 2.69442696e-03 -5.89174242e+00] [-1.50128131e-03 -2.69312936e-03 9.99995247e-01 5.71038258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27165253199999 meters 0.14188611297214765 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.89, Z:0.57 [[ 9.99998872e-01 -8.31276433e-04 1.25128948e-03 -4.69522272e+00] [ 8.27370435e-04 9.99994794e-01 3.11886563e-03 -5.89389941e+00] [-1.25387561e-03 -3.11782683e-03 9.99994353e-01 5.70896200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30165253199999 meters 0.14165427665612926 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.90, Z:0.57 [[ 9.99999082e-01 -8.73428885e-04 1.03620797e-03 -4.69437060e+00] [ 8.69942761e-04 9.99993977e-01 3.36000342e-03 -5.89548479e+00] [-1.03913645e-03 -3.35909889e-03 9.99993818e-01 5.70467970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33165253199999 meters 0.14415804729193857 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.90, Z:0.57 [[ 9.99999237e-01 -8.45298403e-04 9.00816714e-04 -4.69377311e+00] [ 8.41986820e-04 9.99992910e-01 3.67026071e-03 -5.89717838e+00] [-9.03912793e-04 -3.66949944e-03 9.99992859e-01 5.70149960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361652532 meters 0.16161852395549897 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.90, Z:0.57 [[ 9.99999451e-01 -8.28645959e-04 6.40695317e-04 -4.69286376e+00] [ 8.25968086e-04 9.99990970e-01 4.16866361e-03 -5.89974881e+00] [-6.44143878e-04 -4.16813212e-03 9.99991106e-01 5.69854443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391652532 meters 0.14732751977549025 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.90, Z:0.57 [[ 9.99999525e-01 -7.47774892e-04 6.24988621e-04 -4.69275405e+00] [ 7.44996558e-04 9.99989893e-01 4.43388940e-03 -5.90086187e+00] [-6.28297855e-04 -4.43342168e-03 9.99989975e-01 5.69826279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421652532 meters 0.15461699429168307 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.90, Z:0.57 [[ 9.99999617e-01 -7.76999320e-04 4.03377842e-04 -4.69199258e+00] [ 7.75094270e-04 9.99988647e-01 4.70161102e-03 -5.90241048e+00] [-4.07026411e-04 -4.70129656e-03 9.99988866e-01 5.69601820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45165253199998 meters 0.19569601160074304 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99999803e-01 -5.96769305e-04 1.95296219e-04 -4.69154245e+00] [ 5.95709229e-04 9.99985330e-01 5.38381782e-03 -5.90504015e+00] [-1.98506251e-04 -5.38370042e-03 9.99985488e-01 5.69898972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48165253199998 meters 0.14606559816906534 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99988319e-01 -4.82701867e-03 2.46664835e-04 -4.69128248e+00] [ 4.82668259e-03 9.99987446e-01 1.34539114e-03 -5.90680221e+00] [-2.53155967e-04 -1.34418485e-03 9.99999065e-01 5.69360795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51165253199999 meters 0.1429421910309935 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99988976e-01 -4.69525836e-03 4.45473687e-05 -4.69079894e+00] [ 4.69516416e-03 9.99987134e-01 1.92038033e-03 -5.90905441e+00] [-5.35634773e-05 -1.92015000e-03 9.99998155e-01 5.69464807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54165253199999 meters 0.15001514670336785 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99989168e-01 -4.65435671e-03 -2.62229866e-05 -4.69039555e+00] [ 4.65440214e-03 9.99986883e-01 2.13786700e-03 -5.91030599e+00] [ 1.62722470e-05 -2.13796589e-03 9.99997714e-01 5.69119606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57165253199999 meters 0.14268058288121208 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99989552e-01 -4.55992889e-03 3.21961912e-04 -4.69107211e+00] [ 4.55927218e-03 9.99987583e-01 2.01179683e-03 -5.91000201e+00] [-3.31131565e-04 -2.01030790e-03 9.99997925e-01 5.68665588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60165253199999 meters 0.13848367668508027 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99989448e-01 -4.56245403e-03 5.37103786e-04 -4.69152123e+00] [ 4.56144861e-03 9.99987869e-01 1.85850653e-03 -5.90949978e+00] [-5.45576622e-04 -1.85603695e-03 9.99998129e-01 5.68468011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63165253199999 meters 0.13663474735079936 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99990411e-01 -4.33232854e-03 6.39934082e-04 -4.69212066e+00] [ 4.33090478e-03 9.99988180e-01 2.20974239e-03 -5.91015303e+00] [-6.49499848e-04 -2.20694971e-03 9.99997354e-01 5.69038771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66165253199999 meters 0.1363712769089354 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99990623e-01 -4.27559087e-03 6.88495423e-04 -4.69219303e+00] [ 4.27398268e-03 9.99988174e-01 2.32058113e-03 -5.91066968e+00] [-6.98409136e-04 -2.31761675e-03 9.99997070e-01 5.68986930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69165253199999 meters 0.13510140024469347 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99991458e-01 -4.05681056e-03 7.91103639e-04 -4.69272035e+00] [ 4.05470658e-03 9.99988286e-01 2.64325056e-03 -5.91139991e+00] [-8.01817539e-04 -2.64002029e-03 9.99996194e-01 5.69472768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721652532 meters 0.14082538121159985 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99992923e-01 -3.65507341e-03 8.91247435e-04 -4.69354549e+00] [ 3.65214442e-03 9.99987997e-01 3.26616878e-03 -5.91288603e+00] [-9.03174824e-04 -3.26289070e-03 9.99994269e-01 5.70484037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751652532 meters 0.1364566990836331 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99992849e-01 -3.65666973e-03 9.64844002e-04 -4.69366515e+00] [ 3.65353036e-03 9.99988091e-01 3.23570345e-03 -5.91293066e+00] [-9.76664411e-04 -3.23215523e-03 9.99994300e-01 5.70398342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781652532 meters 0.17527302155336583 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99992529e-01 -3.69197523e-03 1.14487240e-03 -4.69404911e+00] [ 3.68852714e-03 9.99988699e-01 2.99939711e-03 -5.91213390e+00] [-1.15593316e-03 -2.99515181e-03 9.99994846e-01 5.70225549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811652532 meters 0.17681409147996635 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99991717e-01 -3.84057515e-03 1.34730770e-03 -4.69430462e+00] [ 3.83716940e-03 9.99989459e-01 2.52136257e-03 -5.91075634e+00] [-1.35697698e-03 -2.51617184e-03 9.99995914e-01 5.69722162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84165253199998 meters 0.1757671232702575 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99989738e-01 -4.18626460e-03 1.73182631e-03 -4.69480184e+00] [ 4.18376879e-03 9.99990208e-01 1.44226559e-03 -5.90725247e+00] [-1.73784706e-03 -1.43500523e-03 9.99997460e-01 5.68761074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87165253199998 meters 0.17688425712949254 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.91, Z:0.57 [[ 9.99989433e-01 -4.09677238e-03 2.08597908e-03 -4.69579572e+00] [ 4.09422780e-03 9.99990871e-01 1.22265879e-03 -5.90614501e+00] [-2.09096899e-03 -1.21410540e-03 9.99997077e-01 5.68892346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90165253199999 meters 0.1764676317170303 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.91, Z:0.57 [[ 9.99990440e-01 -3.80220350e-03 2.15945884e-03 -4.69646580e+00] [ 3.79854470e-03 9.99991347e-01 1.69589578e-03 -5.90707249e+00] [-2.16588829e-03 -1.68767677e-03 9.99996230e-01 5.69750058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93165253199999 meters 0.13654593665851414 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99991641e-01 -3.84740816e-03 1.38395308e-03 -4.69491761e+00] [ 3.84412450e-03 9.99989809e-01 2.36755543e-03 -5.91015874e+00] [-1.39304792e-03 -2.36221555e-03 9.99996240e-01 5.70512231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96165253199999 meters 0.1668709452107414 Centerline is valid? [False, False] Translation: X:-4.69, Y:-5.91, Z:0.57 [[ 9.99991523e-01 -3.90695703e-03 1.29981572e-03 -4.69472290e+00] [ 3.90395682e-03 9.99989728e-01 2.30277029e-03 -5.90995736e+00] [-1.30879919e-03 -2.29767634e-03 9.99996504e-01 5.70526658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99165253199999 meters 0.16909211588849737 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.91, Z:0.57 [[ 9.99990986e-01 -3.91946640e-03 1.63254419e-03 -4.69557525e+00] [ 3.91637045e-03 9.99990535e-01 1.89529208e-03 -5.90807890e+00] [-1.63995728e-03 -1.88888135e-03 9.99996871e-01 5.70380011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02165253199999 meters 0.17139862270718664 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99998400e-01 -1.38411067e-04 1.78347601e-03 -4.69546355e+00] [ 1.29513717e-04 9.99987552e-01 4.98791918e-03 -5.90416324e+00] [-1.78414419e-03 -4.98768022e-03 9.99985970e-01 5.69347962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05165253199999 meters 0.1710355873982458 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99998301e-01 -2.73969928e-04 1.82273820e-03 -4.69532187e+00] [ 2.65368881e-04 9.99988838e-01 4.71732028e-03 -5.90365272e+00] [-1.82401026e-03 -4.71682857e-03 9.99987212e-01 5.68938003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08165253199999 meters 0.16978993711869106 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99998351e-01 -2.44858635e-04 1.79966870e-03 -4.69527650e+00] [ 2.36269254e-04 9.99988589e-01 4.77142041e-03 -5.90395722e+00] [-1.80081648e-03 -4.77098733e-03 9.99986997e-01 5.69003092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111652532 meters 0.16874605381985924 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.91, Z:0.57 [[ 9.99998540e-01 -1.37843802e-04 1.70316946e-03 -4.69516237e+00] [ 1.29201982e-04 9.99987124e-01 5.07303240e-03 -5.90506316e+00] [-1.70384681e-03 -5.07280494e-03 9.99985682e-01 5.69328225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141652532 meters 0.16712984441109544 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988733e-01 -4.06501473e-03 2.45124975e-03 -4.69729887e+00] [ 4.06333897e-03 9.99991508e-01 6.88228187e-04 -5.90363332e+00] [-2.45402659e-03 -6.78260174e-04 9.99996759e-01 5.69689474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171652532 meters 0.16622106250413785 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988479e-01 -3.99793814e-03 2.65669936e-03 -4.69809181e+00] [ 3.99646532e-03 9.99991858e-01 5.59457214e-04 -5.90256196e+00] [-2.65891440e-03 -5.48833362e-04 9.99996314e-01 5.70091684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20165253199998 meters 0.1637027888468226 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988745e-01 -4.02807275e-03 2.50674818e-03 -4.69773254e+00] [ 4.02645511e-03 9.99991683e-01 6.50025039e-04 -5.90295466e+00] [-2.50934568e-03 -6.39924414e-04 9.99996647e-01 5.70150881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23165253199998 meters 0.1623311214796911 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988384e-01 -3.97475968e-03 2.72630175e-03 -4.69850194e+00] [ 3.97352822e-03 9.99992001e-01 4.56966419e-04 -5.90168046e+00] [-2.72809628e-03 -4.46128074e-04 9.99996179e-01 5.70403947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26165253199999 meters 0.16149301712963984 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988651e-01 -3.79540095e-03 2.87985277e-03 -4.69927701e+00] [ 3.79354513e-03 9.99992593e-01 6.49603673e-04 -5.90168617e+00] [-2.88229694e-03 -6.38671449e-04 9.99995642e-01 5.71010754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29165253199999 meters 0.15769869503965292 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99990043e-01 -3.60242936e-03 2.63381956e-03 -4.69905751e+00] [ 3.59916963e-03 9.99992753e-01 1.24133774e-03 -5.90329794e+00] [-2.63827230e-03 -1.23184582e-03 9.99995761e-01 5.71717727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32165253199999 meters 0.15540703871905961 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99990714e-01 -3.48324192e-03 2.53752172e-03 -4.69907364e+00] [ 3.47938100e-03 9.99992785e-01 1.52436211e-03 -5.90397168e+00] [-2.54281313e-03 -1.51551895e-03 9.99995619e-01 5.72180973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35165253199999 meters 0.16398787835674952 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99990340e-01 -3.53905775e-03 2.60656582e-03 -4.69911263e+00] [ 3.53553324e-03 9.99992831e-01 1.35553355e-03 -5.90359330e+00] [-2.61134445e-03 -1.34630486e-03 9.99995684e-01 5.71954782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38165253199999 meters 0.15720836574431654 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988245e-01 -3.06519935e-03 3.75679742e-03 -4.70209939e+00] [ 3.06217093e-03 9.99994982e-01 8.11605187e-04 -5.89960567e+00] [-3.75926630e-03 -8.00091691e-04 9.99992614e-01 5.72079308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41165253199999 meters 0.1662785279757287 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99987554e-01 -3.05113194e-03 3.94742119e-03 -4.70269568e+00] [ 3.04842039e-03 9.99995114e-01 6.92748883e-04 -5.89886501e+00] [-3.94951557e-03 -6.80706862e-04 9.99991969e-01 5.72216006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44165253199999 meters 0.1632943223463498 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988858e-01 -2.97634023e-03 3.66416182e-03 -4.70217549e+00] [ 2.97231665e-03 9.99994974e-01 1.10304628e-03 -5.90026206e+00] [-3.66742645e-03 -1.09214294e-03 9.99992679e-01 5.72607435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471652532 meters 0.16087864701481214 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99989319e-01 -2.97538870e-03 3.53687448e-03 -4.70176819e+00] [ 2.97103793e-03 9.99994824e-01 1.23473694e-03 -5.90100797e+00] [-3.54053000e-03 -1.22421556e-03 9.99992983e-01 5.72527804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501652532 meters 0.16187683952109058 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99988378e-01 -2.50732136e-03 4.11783193e-03 -4.70373790e+00] [ 2.50154125e-03 9.99995880e-01 1.40822919e-03 -5.90032373e+00] [-4.12134585e-03 -1.39791190e-03 9.99990530e-01 5.73267413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531652532 meters 0.16171300563697283 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99986994e-01 -2.51131725e-03 4.43900286e-03 -4.70452474e+00] [ 2.50631748e-03 9.99996219e-01 1.13153151e-03 -5.89911150e+00] [-4.44182771e-03 -1.12039124e-03 9.99989507e-01 5.73163034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561652532 meters 0.15804228221028677 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99987224e-01 -2.92029006e-03 4.12588896e-03 -4.70328656e+00] [ 2.91715615e-03 9.99995452e-01 7.65386350e-04 -5.89851869e+00] [-4.12810534e-03 -7.53340709e-04 9.99991196e-01 5.72425815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59165253199998 meters 0.15562073473071386 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99987533e-01 -2.78896542e-03 4.14191380e-03 -4.70366385e+00] [ 2.78492675e-03 9.99995641e-01 9.80519918e-04 -5.89871115e+00] [-4.14463039e-03 -9.68972768e-04 9.99990942e-01 5.72984797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62165253199998 meters 0.15336866194309104 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99987953e-01 -2.72816259e-03 4.08044168e-03 -4.70371847e+00] [ 2.72345993e-03 9.99995621e-01 1.15760178e-03 -5.89900766e+00] [-4.08358194e-03 -1.14647491e-03 9.99991005e-01 5.73358672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65165253199999 meters 0.1550656717240952 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99987649e-01 -2.60470173e-03 4.23283755e-03 -4.70436151e+00] [ 2.59951644e-03 9.99995865e-01 1.23005549e-03 -5.89874657e+00] [-4.23602398e-03 -1.21903696e-03 9.99990285e-01 5.73741279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68165253199999 meters 0.1528496988656699 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.90, Z:0.57 [[ 9.99986368e-01 -2.90835676e-03 4.33648514e-03 -4.70428301e+00] [ 2.90592675e-03 9.99995617e-01 5.66559578e-04 -5.89656379e+00] [-4.33811390e-03 -5.53950347e-04 9.99990437e-01 5.73029296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71165253199999 meters 0.15129946419838355 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.57 [[ 9.99984792e-01 -2.85271404e-03 4.71986566e-03 -4.70536798e+00] [ 2.85157967e-03 9.99995904e-01 2.47052415e-04 -5.89479628e+00] [-4.72055109e-03 -2.33589585e-04 9.99988831e-01 5.73069350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74165253199999 meters 0.154183727687693 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.57 [[ 9.99982958e-01 -2.84311984e-03 5.09898758e-03 -4.70646242e+00] [ 2.84409350e-03 9.99995939e-01 -1.83710282e-04 -5.89264814e+00] [-5.09844456e-03 1.98209149e-04 9.99986983e-01 5.73205780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77165253199999 meters 0.15626452275226563 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.57 [[ 9.99980809e-01 -2.71580502e-03 5.56832242e-03 -4.70787809e+00] [ 2.71835495e-03 9.99996204e-01 -4.50416990e-04 -5.89089741e+00] [-5.56707803e-03 4.65545023e-04 9.99984395e-01 5.73537472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80165253199999 meters 0.15592873080478362 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.57 [[ 9.99979805e-01 -2.73435733e-03 5.73697457e-03 -4.70848613e+00] [ 2.73815622e-03 9.99996037e-01 -6.54426687e-04 -5.88971979e+00] [-5.73516240e-03 6.70122204e-04 9.99983329e-01 5.73781075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83165253199999 meters 0.15224810972825403 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.57 [[ 9.99979335e-01 -2.54665981e-03 5.90281300e-03 -4.70932631e+00] [ 2.54962210e-03 9.99996628e-01 -4.94373069e-04 -5.88949729e+00] [-5.90153410e-03 5.09412795e-04 9.99982456e-01 5.74427118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861652532 meters 0.1553397689738819 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.58 [[ 9.99978949e-01 -2.37015914e-03 6.04013735e-03 -4.71011101e+00] [ 2.37217498e-03 9.99997133e-01 -3.26597467e-04 -5.88929149e+00] [-6.03934594e-03 3.40918855e-04 9.99981705e-01 5.75111537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891652532 meters 0.1513082050126345 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.89, Z:0.58 [[ 9.99979308e-01 1.86650422e-03 6.15630242e-03 -4.71063736e+00] [-1.88898548e-03 9.99991562e-01 3.64795611e-03 -5.88757926e+00] [-6.14944155e-03 -3.65950979e-03 9.99974396e-01 5.75400552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921652532 meters 0.15197796069046945 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.88, Z:0.57 [[ 9.99975136e-01 1.75372304e-03 6.83025911e-03 -4.71188497e+00] [-1.77204855e-03 9.99994844e-01 2.67786176e-03 -5.88425400e+00] [-6.82552767e-03 -2.68989872e-03 9.99973088e-01 5.74556617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95165253199998 meters 0.1569776193382167 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.88, Z:0.57 [[ 9.99973260e-01 1.57249592e-03 7.14183362e-03 -4.71245797e+00] [-1.58729011e-03 9.99996605e-01 2.06628764e-03 -5.88218885e+00] [-7.13856015e-03 -2.07756855e-03 9.99972362e-01 5.74111297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98165253199998 meters 0.15837791010691923 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.88, Z:0.57 [[ 9.99972070e-01 1.43805511e-03 7.33421788e-03 -4.71282086e+00] [-1.45047656e-03 9.99997522e-01 1.68859225e-03 -5.88093929e+00] [-7.33177142e-03 -1.69918320e-03 9.99971679e-01 5.73876863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01165253199999 meters 0.16756874106336866 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.88, Z:0.57 [[ 9.99970477e-01 1.57021433e-03 7.52196625e-03 -4.71365635e+00] [-1.58286983e-03 9.99997341e-01 1.67681426e-03 -5.88033613e+00] [-7.51931330e-03 -1.68867104e-03 9.99970304e-01 5.74466745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04165253199999 meters 0.17726200805708417 Centerline is valid? [False, False] Translation: X:-4.71, Y:-5.88, Z:0.57 [[ 9.99966107e-01 1.46728261e-03 8.10131346e-03 -4.71464316e+00] [-1.47463243e-03 9.99998507e-01 9.01339195e-04 -5.87799064e+00] [-8.09997884e-03 -9.13255106e-04 9.99966778e-01 5.73565509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07165253199999 meters 0.17725354204381452 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.57 [[ 9.99962535e-01 1.22411765e-03 8.56918714e-03 -4.71530885e+00] [-1.22375756e-03 9.99999250e-01 -4.72647403e-05 -5.87514815e+00] [-8.56923857e-03 3.67763620e-05 9.99963283e-01 5.72557638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10165253199999 meters 0.17849689132063734 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99958174e-01 1.19531794e-03 9.06761189e-03 -4.71664188e+00] [-1.18983858e-03 9.99999106e-01 -6.09648161e-04 -5.87229602e+00] [-9.06833251e-03 5.98833667e-04 9.99958703e-01 5.72563569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13165253199999 meters 0.17849689132063734 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99958174e-01 1.19531794e-03 9.06761189e-03 -4.71664188e+00] [-1.18983858e-03 9.99999106e-01 -6.09648161e-04 -5.87229602e+00] [-9.06833251e-03 5.98833667e-04 9.99958703e-01 5.72563569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16165253199999 meters 0.17726361381618186 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99951147e-01 1.27159467e-03 9.80233179e-03 -4.71853992e+00] [-1.25968396e-03 9.99998461e-01 -1.22116721e-03 -5.86931193e+00] [-9.80386953e-03 1.20875971e-03 9.99951210e-01 5.72732849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19165253199999 meters 0.18223943792332623 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99952695e-01 1.38832917e-03 9.62708719e-03 -4.71844947e+00] [-1.38022020e-03 9.99998687e-01 -8.48900261e-04 -5.87028933e+00] [-9.62825310e-03 8.35572603e-04 9.99953298e-01 5.73415753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221652532 meters 0.190542041845665 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99951144e-01 1.68518032e-03 9.74011707e-03 -4.71932303e+00] [-1.68102051e-03 9.99998492e-01 -4.35250400e-04 -5.87080043e+00] [-9.74083586e-03 4.18855798e-04 9.99952469e-01 5.74380853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251652532 meters 0.18878407162852825 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99948350e-01 1.82582036e-03 9.99822396e-03 -4.72019982e+00] [-1.82238822e-03 9.99998277e-01 -3.52375571e-04 -5.87065860e+00] [-9.99885011e-03 3.34136725e-04 9.99949954e-01 5.74750025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281652532 meters 0.16510838215363172 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.58 [[ 9.99962054e-01 1.47434001e-03 8.58580329e-03 -4.71724659e+00] [-1.48116427e-03 9.99998592e-01 7.88526544e-04 -5.87506521e+00] [-8.58462865e-03 -8.01213608e-04 9.99962830e-01 5.75898260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311652532 meters 0.17185950168667455 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99962431e-01 1.21636700e-03 8.58236033e-03 -4.71684566e+00] [-1.21931508e-03 9.99999199e-01 3.38279933e-04 -5.87403050e+00] [-8.58194198e-03 -3.48731825e-04 9.99963114e-01 5.75213182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34165253199998 meters 0.17306313933696202 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99960641e-01 9.42670551e-04 8.82200911e-03 -4.71716694e+00] [-9.39427811e-04 9.99999490e-01 -3.71710575e-04 -5.87163958e+00] [-8.82235501e-03 3.63408304e-04 9.99961016e-01 5.74637648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37165253199998 meters 0.172298297540731 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99959530e-01 2.56155117e-04 8.99293153e-03 -4.71672255e+00] [-2.41351046e-04 9.99998614e-01 -1.64723633e-03 -5.86811154e+00] [-8.99334101e-03 1.64499921e-03 9.99958206e-01 5.73087616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40165253199999 meters 0.172298297540731 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99959530e-01 2.56155117e-04 8.99293153e-03 -4.71672255e+00] [-2.41351046e-04 9.99998614e-01 -1.64723633e-03 -5.86811154e+00] [-8.99334101e-03 1.64499921e-03 9.99958206e-01 5.73087616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43165253199999 meters 0.16941032402509507 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99960463e-01 5.82277853e-04 8.87316520e-03 -4.71700754e+00] [-5.73774416e-04 9.99999374e-01 -9.60847393e-04 -5.86977699e+00] [-8.87371912e-03 9.55718209e-04 9.99960171e-01 5.74139283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46165253199999 meters 0.16594175265050845 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.57 [[ 9.99960769e-01 8.45450391e-04 8.81739288e-03 -4.71735995e+00] [-8.41450564e-04 9.99999541e-01 -4.57329109e-04 -5.87088058e+00] [-8.81777548e-03 4.49891768e-04 9.99961021e-01 5.74983679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49165253199999 meters 0.16900718023341865 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99960428e-01 8.73258369e-04 8.85323701e-03 -4.71768849e+00] [-8.69104724e-04 9.99999510e-01 -4.73003247e-04 -5.87044067e+00] [-8.85364573e-03 4.65290140e-04 9.99960697e-01 5.75343939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52165253199999 meters 0.16268886410494915 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99953919e-01 8.07485897e-04 9.56596622e-03 -4.71924036e+00] [-7.94721446e-04 9.99998789e-01 -1.33808691e-03 -5.86645257e+00] [-9.56703512e-03 1.33042297e-03 9.99953350e-01 5.75008088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55165253199999 meters 0.16838017160060118 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.57 [[ 9.99948330e-01 8.70735924e-04 1.01281052e-02 -4.72058535e+00] [-8.52684478e-04 9.99998041e-01 -1.78649389e-03 -5.86430970e+00] [-1.01296409e-02 1.77776550e-03 9.99947114e-01 5.74915672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58165253199999 meters 0.16207963217019428 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.57 [[ 9.99943130e-01 8.03448354e-04 1.06344031e-02 -4.72153765e+00] [-7.78340547e-04 9.99996901e-01 -2.36492639e-03 -5.86227656e+00] [-1.06362703e-02 2.35651471e-03 9.99940657e-01 5.74439938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611652532 meters 0.16817499254525098 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.57 [[ 9.99942089e-01 8.54345820e-04 1.07279655e-02 -4.72182324e+00] [-8.29257170e-04 9.99996912e-01 -2.34285196e-03 -5.86220166e+00] [-1.07299340e-02 2.33382004e-03 9.99939709e-01 5.74527404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641652532 meters 0.19373935342583518 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99941307e-01 1.27645131e-03 1.07589022e-02 -4.72259059e+00] [-1.25943149e-03 9.99997945e-01 -1.58855632e-03 -5.86378908e+00] [-1.07609078e-02 1.57491298e-03 9.99940860e-01 5.75759310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671652532 meters 0.16428853019890943 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99942090e-01 1.45291624e-03 1.06633272e-02 -4.72270303e+00] [-1.44026219e-03 9.99998250e-01 -1.19427184e-03 -5.86475441e+00] [-1.06650437e-02 1.17884469e-03 9.99942432e-01 5.76388146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70165253199998 meters 0.1620513267566405 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99941395e-01 1.49866835e-03 1.07219916e-02 -4.72292748e+00] [-1.48676830e-03 9.99998270e-01 -1.11775725e-03 -5.86491116e+00] [-1.07236482e-02 1.10175062e-03 9.99941893e-01 5.76556042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73165253199998 meters 0.16052721123161692 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99942470e-01 1.40615670e-03 1.06338878e-02 -4.72261085e+00] [-1.39374329e-03 9.99998339e-01 -1.17466439e-03 -5.86495270e+00] [-1.06355219e-02 1.15977590e-03 9.99942769e-01 5.76410943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76165253199999 meters 0.16175539762140406 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99941864e-01 1.00506217e-03 1.07358567e-02 -4.72234341e+00] [-9.83976701e-04 9.99997577e-01 -1.96912476e-03 -5.86268803e+00] [-1.07378097e-02 1.95844645e-03 9.99940430e-01 5.75464231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79165253199999 meters 0.18151243854076857 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99941581e-01 1.13129784e-03 1.07496032e-02 -4.72261299e+00] [-1.11284344e-03 9.99997897e-01 -1.72257747e-03 -5.86321112e+00] [-1.07515294e-02 1.71051421e-03 9.99940738e-01 5.75878931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82165253199999 meters 0.17118740432568372 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99945180e-01 1.30266643e-03 1.03894032e-02 -4.72211753e+00] [-1.29169560e-03 9.99998601e-01 -1.06260358e-03 -5.86517331e+00] [-1.03907729e-02 1.04912538e-03 9.99945464e-01 5.76622808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85165253199999 meters 0.16106341185587855 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99943747e-01 1.35691297e-03 1.05195550e-02 -4.72255841e+00] [-1.34571781e-03 9.99998521e-01 -1.07122858e-03 -5.86475203e+00] [-1.05209930e-02 1.05701197e-03 9.99944094e-01 5.76812785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88165253199999 meters 0.17409154037949026 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99946537e-01 1.36579887e-03 1.02497457e-02 -4.72200679e+00] [-1.35830891e-03 9.99998805e-01 -7.37671913e-04 -5.86596912e+00] [-1.02507410e-02 7.23710154e-04 9.99947198e-01 5.77087011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91165253199999 meters 0.16912713793237688 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99950200e-01 1.29832685e-03 9.89504596e-03 -4.72109738e+00] [-1.29360093e-03 9.99999046e-01 -4.83990876e-04 -5.86723240e+00] [-9.89566490e-03 4.71166533e-04 9.99950926e-01 5.77116943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94165253199999 meters 0.165866667055765 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99954003e-01 1.15809625e-03 9.52110832e-03 -4.72013376e+00] [-1.15475576e-03 9.99999270e-01 -3.56341255e-04 -5.86810832e+00] [-9.52151405e-03 3.45330310e-04 9.99954610e-01 5.77141113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971652532 meters 0.1644177583529284 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99953861e-01 1.09522338e-03 9.54339426e-03 -4.72024228e+00] [-1.09065823e-03 9.99999288e-01 -4.83548293e-04 -5.86752511e+00] [-9.54391706e-03 4.73117401e-04 9.99954344e-01 5.77217272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001652532 meters 0.16183652883628277 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99955811e-01 8.68820327e-04 9.36064939e-03 -4.71950407e+00] [-8.62069163e-04 9.99999365e-01 -7.25238960e-04 -5.86725171e+00] [-9.36127355e-03 7.17137385e-04 9.99955925e-01 5.76769402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031652532 meters 0.17227682912281705 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.58 [[ 9.99955980e-01 6.62444745e-04 9.35947652e-03 -4.71925448e+00] [-6.52174265e-04 9.99999182e-01 -1.10034430e-03 -5.86624539e+00] [-9.36019778e-03 1.09419185e-03 9.99955594e-01 5.76336905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061652532 meters 0.1665342146622466 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99953820e-01 5.86633406e-04 9.59240720e-03 -4.71973774e+00] [-5.72645762e-04 9.99998769e-01 -1.46088116e-03 -5.86491905e+00] [-9.59325240e-03 1.45532064e-03 9.99952925e-01 5.76163520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09165253199998 meters 0.17031224227975963 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99944606e-01 8.25860784e-04 1.04929475e-02 -4.72184510e+00] [-8.03424722e-04 9.99997383e-01 -2.14223928e-03 -5.86160010e+00] [-1.04946892e-02 2.13369032e-03 9.99942653e-01 5.76134978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12165253199998 meters 0.16499403113896732 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99941864e-01 9.99431137e-04 1.07363682e-02 -4.72277396e+00] [-9.77663327e-04 9.99997456e-01 -2.03254075e-03 -5.86137797e+00] [-1.07383723e-02 2.02192604e-03 9.99940298e-01 5.76689915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15165253199999 meters 0.16338123625255052 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99942014e-01 1.19082770e-03 1.07027981e-02 -4.72310701e+00] [-1.17270795e-03 9.99997869e-01 -1.69910894e-03 -5.86197659e+00] [-1.07047986e-02 1.68645916e-03 9.99941280e-01 5.77400231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18165253199999 meters 0.17943279209927074 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99938882e-01 1.32260780e-03 1.09764632e-02 -4.72397426e+00] [-1.30420011e-03 9.99997732e-01 -1.68400363e-03 -5.86161162e+00] [-1.09786656e-02 1.66958521e-03 9.99938339e-01 5.77773911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21165253199999 meters 0.19652505251928779 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99938924e-01 1.37655915e-03 1.09660289e-02 -4.72410520e+00] [-1.35913063e-03 9.99997802e-01 -1.59661281e-03 -5.86166360e+00] [-1.09682026e-02 1.58161103e-03 9.99938597e-01 5.78019852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24165253199999 meters 0.1948425120168713 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99938081e-01 1.24180322e-03 1.10585445e-02 -4.72418734e+00] [-1.22087865e-03 9.99997452e-01 -1.89871299e-03 -5.86075109e+00] [-1.10608741e-02 1.88509428e-03 9.99937050e-01 5.77761419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27165253199999 meters 0.17793931987780207 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99937961e-01 1.08204404e-03 1.10861591e-02 -4.72404940e+00] [-1.05758223e-03 9.99996994e-01 -2.21214328e-03 -5.85989247e+00] [-1.10885194e-02 2.20028152e-03 9.99936100e-01 5.77363154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30165253199999 meters 0.1802416384703901 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99937373e-01 1.03377956e-03 1.11436771e-02 -4.72420048e+00] [-1.00770999e-03 9.99996743e-01 -2.34476618e-03 -5.85937151e+00] [-1.11460647e-02 2.33338974e-03 9.99935158e-01 5.77348612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33165253199999 meters 0.1913339392937742 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.86, Z:0.58 [[ 9.99936872e-01 1.19770333e-03 1.11721512e-02 -4.72463681e+00] [-1.17435718e-03 9.99997114e-01 -2.09599925e-03 -5.85968002e+00] [-1.11746293e-02 2.08274684e-03 9.99935393e-01 5.77956658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361652532 meters 0.1741260783816581 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.58 [[ 9.99934485e-01 1.33373684e-03 1.13686859e-02 -4.72545823e+00] [-1.31086052e-03 9.99997102e-01 -2.01943618e-03 -5.85932137e+00] [-1.13713463e-02 2.00440111e-03 9.99933335e-01 5.78487791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391652532 meters 0.18724924306744156 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.58 [[ 9.99934702e-01 1.44762149e-03 1.13355722e-02 -4.72573056e+00] [-1.42717620e-03 9.99997341e-01 -1.81152136e-03 -5.85954478e+00] [-1.13381645e-02 1.79522521e-03 9.99934109e-01 5.79064290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421652532 meters 0.1847059270700401 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.58 [[ 9.99933969e-01 1.32041740e-03 1.14155305e-02 -4.72570211e+00] [-1.29690652e-03 9.99997023e-01 -2.06670986e-03 -5.85896492e+00] [-1.14182254e-02 2.05176852e-03 9.99932705e-01 5.78680732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45165253199998 meters 0.18412413898658003 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99990642e-01 1.07571681e-03 -4.19036847e-03 -4.72537572e+00] [-1.07888237e-03 9.99999134e-01 -7.53249489e-04 -5.86231250e+00] [ 4.18955456e-03 7.57763355e-04 9.99990937e-01 5.87373331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48165253199998 meters 0.18328145829026335 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991530e-01 1.13254799e-03 -3.95704237e-03 -4.72592366e+00] [-1.13571970e-03 9.99999036e-01 -7.99381661e-04 -5.86205874e+00] [ 3.95613321e-03 8.03868981e-04 9.99991851e-01 5.87313611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51165253199999 meters 0.17999909470899783 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991391e-01 1.33539726e-03 -3.92873992e-03 -4.72638527e+00] [-1.33730400e-03 9.99998989e-01 -4.82743092e-04 -5.86256147e+00] [ 3.92809129e-03 4.87992856e-04 9.99992166e-01 5.87948312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54165253199999 meters 0.1793896189795095 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991521e-01 1.33747031e-03 -3.89469684e-03 -4.72649427e+00] [-1.33937647e-03 9.99998985e-01 -4.86857513e-04 -5.86253095e+00] [ 3.89404172e-03 4.92069851e-04 9.99992297e-01 5.87993814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57165253199999 meters 0.1736160770777011 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99990964e-01 1.66053616e-03 -3.91338353e-03 -4.72700566e+00] [-1.66004931e-03 9.99998614e-01 1.27650907e-04 -5.86387756e+00] [ 3.91359008e-03 -1.21153344e-04 9.99992335e-01 5.88997658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60165253199999 meters 0.17327130003210622 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991197e-01 1.68734287e-03 -3.84159380e-03 -4.72714026e+00] [-1.68676931e-03 9.99998566e-01 1.52537138e-04 -5.86402411e+00] [ 3.84184567e-03 -1.46055912e-04 9.99992609e-01 5.88941219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63165253199999 meters 0.17516405626570833 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991983e-01 1.71556544e-03 -3.61798598e-03 -4.72764597e+00] [-1.71533087e-03 9.99998527e-01 6.79359952e-05 -5.86365468e+00] [ 3.61809720e-03 -6.17294076e-05 9.99993453e-01 5.88845444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66165253199999 meters 0.1688419906076664 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.86, Z:0.59 [[ 9.99991309e-01 1.39269624e-03 -3.92959450e-03 -4.72630685e+00] [-1.39339216e-03 9.99999014e-01 -1.74366137e-04 -5.86401846e+00] [ 3.92934778e-03 1.79840088e-04 9.99992264e-01 5.87916172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69165253199999 meters 0.1662477970924225 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.87, Z:0.59 [[ 9.99990971e-01 1.58845441e-03 -3.94146332e-03 -4.72644497e+00] [-1.58751590e-03 9.99998711e-01 2.41228979e-04 -5.86526798e+00] [ 3.94184142e-03 -2.34969666e-04 9.99992203e-01 5.88245696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721652532 meters 0.1631273873979339 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.59 [[ 9.99988553e-01 1.31779541e-03 -4.59970602e-03 -4.72446787e+00] [-1.31532840e-03 9.99998990e-01 5.39324746e-04 -5.86790732e+00] [ 4.60041209e-03 -5.33268448e-04 9.99989276e-01 5.87742326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751652532 meters 0.18007824716485196 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.59 [[ 9.99989419e-01 1.37072174e-03 -4.39116050e-03 -4.72495477e+00] [-1.36852877e-03 9.99998937e-01 5.02370944e-04 -5.86767315e+00] [ 4.39184444e-03 -4.96356199e-04 9.99990233e-01 5.87672013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781652532 meters 0.17477148860216343 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.87, Z:0.59 [[ 9.99989604e-01 1.39260580e-03 -4.34190776e-03 -4.72508802e+00] [-1.39015025e-03 9.99998872e-01 5.68513285e-04 -5.86789212e+00] [ 4.34269458e-03 -5.62471471e-04 9.99990412e-01 5.87702120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811652532 meters 0.16439138288410926 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.59 [[ 9.99988569e-01 1.62817495e-03 -4.49563219e-03 -4.72498383e+00] [-1.62260891e-03 9.99997913e-01 1.24147024e-03 -5.86999065e+00] [ 4.49764414e-03 -1.23416140e-03 9.99989124e-01 5.88260675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84165253199998 meters 0.16404211653872353 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.87, Z:0.59 [[ 9.99987192e-01 1.81592000e-03 -4.72416221e-03 -4.72462125e+00] [-1.80698031e-03 9.99996570e-01 1.89591468e-03 -5.87231435e+00] [ 4.72758884e-03 -1.88735393e-03 9.99987044e-01 5.88738894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87165253199998 meters 0.16791790825140246 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.59 [[ 9.99987226e-01 -7.89175893e-04 -4.99256138e-03 -4.72139715e+00] [ 7.87333922e-04 9.99999621e-01 -3.70897793e-04 -5.87551742e+00] [ 4.99285220e-03 3.66962242e-04 9.99987468e-01 5.85523802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90165253199999 meters 0.1607568642803509 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.59 [[ 9.99986280e-01 -6.99928197e-04 -5.19131724e-03 -4.72086687e+00] [ 7.00251378e-04 9.99999753e-01 6.04368097e-05 -5.87733359e+00] [ 5.19127366e-03 -6.40712076e-05 9.99986523e-01 5.85535867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93165253199999 meters 0.16359425758093885 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.59 [[ 9.99985888e-01 -5.92034386e-04 -5.27955015e-03 -4.72059966e+00] [ 5.94397330e-04 9.99999724e-01 4.46007631e-04 -5.87885811e+00] [ 5.27928464e-03 -4.49139487e-04 9.99985964e-01 5.85537876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96165253199999 meters 0.1609530340658441 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.88, Z:0.59 [[ 9.99986037e-01 -2.55950181e-04 -5.27825667e-03 -4.72088749e+00] [ 2.62135230e-04 9.99999280e-01 1.17113913e-03 -5.88099651e+00] [ 5.27795312e-03 -1.17250640e-03 9.99985384e-01 5.86088181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99165253199999 meters 0.16239937570041144 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99979630e-01 -8.03768113e-04 -6.33193864e-03 -4.71779647e+00] [ 8.14800885e-04 9.99998154e-01 1.74001335e-03 -5.88534006e+00] [ 6.33052838e-03 -1.74513717e-03 9.99978439e-01 5.85349672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02165253199999 meters 0.16239937570041144 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99979630e-01 -8.03768113e-04 -6.33193864e-03 -4.71779647e+00] [ 8.14800885e-04 9.99998154e-01 1.74001335e-03 -5.88534006e+00] [ 6.33052838e-03 -1.74513717e-03 9.99978439e-01 5.85349672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05165253199999 meters 0.15796678246200152 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99978803e-01 -5.27618811e-04 -6.48957593e-03 -4.71767176e+00] [ 5.43763468e-04 9.99996761e-01 2.48627021e-03 -5.88776712e+00] [ 6.48824311e-03 -2.48974630e-03 9.99975852e-01 5.85928877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08165253199999 meters 0.1628356672121908 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99967935e-01 -4.70841043e-03 -6.47762421e-03 -4.71745388e+00] [ 4.69977712e-03 9.99988048e-01 -1.34736763e-03 -5.88999964e+00] [ 6.48389075e-03 1.31688104e-03 9.99978112e-01 5.85651424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111652532 meters 0.15697602759078605 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99967883e-01 -4.55267384e-03 -6.59597962e-03 -4.71727235e+00] [ 4.54701507e-03 9.99989282e-01 -8.72654304e-04 -5.89164980e+00] [ 6.59988183e-03 8.42634258e-04 9.99977866e-01 5.85931257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141652532 meters 0.15865420301632951 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99968303e-01 -4.30280847e-03 -6.69916806e-03 -4.71730508e+00] [ 4.30099395e-03 9.99990710e-01 -2.85241075e-04 -5.89333049e+00] [ 6.70033317e-03 2.56418953e-04 9.99977520e-01 5.86465471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171652532 meters 0.1568250902395287 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99967162e-01 -4.15947553e-03 -6.95510278e-03 -4.71671725e+00] [ 4.16247424e-03 9.99991250e-01 4.16732216e-04 -5.89603456e+00] [ 6.95330853e-03 -4.45668968e-04 9.99975726e-01 5.86719543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20165253199998 meters 0.1473977504246445 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99965361e-01 -3.90442627e-03 -7.35060997e-03 -4.71618133e+00] [ 3.91517672e-03 9.99991286e-01 1.44870337e-03 -5.89933279e+00] [ 7.34488956e-03 -1.47743213e-03 9.99971935e-01 5.87634853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23165253199998 meters 0.15311759925718563 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99964310e-01 -3.74175957e-03 -7.57488909e-03 -4.71571174e+00] [ 3.75753827e-03 9.99990798e-01 2.06986833e-03 -5.90171147e+00] [ 7.56707444e-03 -2.09825739e-03 9.99969168e-01 5.87904817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26165253199999 meters 0.161766929922414 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99964215e-01 -3.62937702e-03 -7.64172522e-03 -4.71553649e+00] [ 3.64758935e-03 9.99990537e-01 2.37068894e-03 -5.90289539e+00] [ 7.63304879e-03 -2.39847798e-03 9.99967991e-01 5.87956048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29165253199999 meters 0.1506346788588039 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99966030e-01 -3.39131699e-03 -7.51251079e-03 -4.71610909e+00] [ 3.41190693e-03 9.99990454e-01 2.72963513e-03 -5.90370578e+00] [ 7.50318202e-03 -2.75517439e-03 9.99968055e-01 5.88386576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32165253199999 meters 0.15697512430968502 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99962631e-01 -3.40345460e-03 -7.94692854e-03 -4.71506448e+00] [ 3.42960935e-03 9.99988740e-01 3.27987267e-03 -5.90629353e+00] [ 7.93567616e-03 -3.30700496e-03 9.99963044e-01 5.88569032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35165253199999 meters 0.14775369992526932 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99963641e-01 -3.20494158e-03 -7.90215519e-03 -4.71540664e+00] [ 3.23390379e-03 9.99988091e-01 3.65505291e-03 -5.90733075e+00] [ 7.89034685e-03 -3.68047483e-03 9.99962098e-01 5.89005408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38165253199999 meters 0.15265022866335579 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99963131e-01 -2.99870091e-03 -8.04644538e-03 -4.71530033e+00] [ 3.03265546e-03 9.99986535e-01 4.21094223e-03 -5.90918067e+00] [ 8.03370968e-03 -4.23518907e-03 9.99958760e-01 5.89514722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41165253199999 meters 0.15132810122910992 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99963464e-01 -2.75004997e-03 -8.09372650e-03 -4.71554327e+00] [ 2.78830711e-03 9.99984977e-01 4.71928191e-03 -5.91055746e+00] [ 8.08062665e-03 -4.74167728e-03 9.99956109e-01 5.90181674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44165253199999 meters 0.14952648241345198 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99963410e-01 -2.66419767e-03 -8.12898423e-03 -4.71541745e+00] [ 2.70448764e-03 9.99984095e-01 4.94937441e-03 -5.91160123e+00] [ 8.11566882e-03 -4.97117805e-03 9.99954711e-01 5.90173976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471652532 meters 0.15285883842524323 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99963292e-01 -2.59648988e-03 -8.16532283e-03 -4.71544388e+00] [ 2.63838007e-03 9.99983393e-01 5.12367417e-03 -5.91215653e+00] [ 8.15188366e-03 -5.14502931e-03 9.99953537e-01 5.90430835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501652532 meters 0.1475382872650378 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99964264e-01 -2.44033588e-03 -8.09414503e-03 -4.71586925e+00] [ 2.48364573e-03 9.99982631e-01 5.34503398e-03 -5.91257984e+00] [ 8.08096077e-03 -5.36494596e-03 9.99952957e-01 5.90848758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531652532 meters 0.15064878404237295 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966350e-01 -2.37419478e-03 -7.85252019e-03 -4.71657705e+00] [ 2.41521172e-03 9.99983469e-01 5.21805922e-03 -5.91187575e+00] [ 7.84000169e-03 -5.23684913e-03 9.99955554e-01 5.90938849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561652532 meters 0.1505555335474337 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966137e-01 -2.35709100e-03 -7.88472963e-03 -4.71651510e+00] [ 2.39895666e-03 9.99983054e-01 5.30447651e-03 -5.91223917e+00] [ 7.87209287e-03 -5.32321201e-03 9.99954846e-01 5.91001232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59165253199998 meters 0.15241304376746015 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966380e-01 -2.28735016e-03 -7.87440253e-03 -4.71668186e+00] [ 2.33006068e-03 9.99982602e-01 5.41907460e-03 -5.91248761e+00] [ 7.86187021e-03 -5.43724025e-03 9.99954313e-01 5.91250470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62165253199998 meters 0.14735776494240688 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966908e-01 -2.32803358e-03 -7.79504871e-03 -4.71679859e+00] [ 2.36863285e-03 9.99983658e-01 5.20316565e-03 -5.91188554e+00] [ 7.78280818e-03 -5.22145707e-03 9.99956081e-01 5.91067441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65165253199999 meters 0.1760040720727827 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99965944e-01 -2.37329206e-03 -7.90432227e-03 -4.71656797e+00] [ 2.41461774e-03 9.99983446e-01 5.22280576e-03 -5.91204352e+00] [ 7.89179617e-03 -5.24171381e-03 9.99955121e-01 5.91173522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68165253199999 meters 0.14910089843357296 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966299e-01 -2.28119047e-03 -7.88645976e-03 -4.71683332e+00] [ 2.32347594e-03 9.99982953e-01 5.35678272e-03 -5.91229218e+00] [ 7.87410548e-03 -5.37492619e-03 9.99954553e-01 5.91562419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71165253199999 meters 0.14947990350705012 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99967344e-01 -2.23267390e-03 -7.76695313e-03 -4.71735686e+00] [ 2.27377896e-03 9.99983436e-01 5.28750282e-03 -5.91168435e+00] [ 7.75501921e-03 -5.30499049e-03 9.99955857e-01 5.91911292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74165253199999 meters 0.14305555274472545 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99969068e-01 -2.09754409e-03 -7.58039921e-03 -4.71823532e+00] [ 2.13760279e-03 9.99983775e-01 5.28027747e-03 -5.91097279e+00] [ 7.56920060e-03 -5.29631802e-03 9.99957327e-01 5.92584288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77165253199999 meters 0.1731782619554197 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99968944e-01 -2.09500543e-03 -7.59748837e-03 -4.71823331e+00] [ 2.13531538e-03 9.99983667e-01 5.30146884e-03 -5.91107762e+00] [ 7.58625767e-03 -5.31752723e-03 9.99957085e-01 5.92687714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80165253199999 meters 0.17176154684283929 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99967286e-01 -2.23241249e-03 -7.77446841e-03 -4.71758762e+00] [ 2.27320358e-03 9.99983677e-01 5.24192368e-03 -5.91141340e+00] [ 7.76263938e-03 -5.25942515e-03 9.99956039e-01 5.92420715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83165253199999 meters 0.17043764584966567 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99967560e-01 -2.13619555e-03 -7.76626882e-03 -4.71774119e+00] [ 2.17799940e-03 9.99983165e-01 5.37827827e-03 -5.91173318e+00] [ 7.75464902e-03 -5.39501873e-03 9.99955379e-01 5.92623691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861652532 meters 0.16858225888141937 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99964913e-01 -2.44281658e-03 -8.01289058e-03 -4.71678136e+00] [ 2.48353381e-03 9.99984036e-01 5.07545704e-03 -5.91144761e+00] [ 8.00036425e-03 -5.09517924e-03 9.99955016e-01 5.92090487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891652532 meters 0.165964352722294 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99964364e-01 -2.57273368e-03 -8.04065699e-03 -4.71653985e+00] [ 2.61177223e-03 9.99984836e-01 4.84842144e-03 -5.91095281e+00] [ 8.02806136e-03 -4.86924902e-03 9.99955919e-01 5.91807123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921652532 meters 0.14975446300513456 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99964032e-01 -2.79386902e-03 -8.00811871e-03 -4.71637077e+00] [ 2.82915303e-03 9.99986326e-01 4.39809255e-03 -5.90973175e+00] [ 7.99572151e-03 -4.42059055e-03 9.99958263e-01 5.91365077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95165253199998 meters 0.15565125705278304 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99964654e-01 -2.76523819e-03 -7.94008702e-03 -4.71661522e+00] [ 2.79992221e-03 9.99986573e-01 4.36042842e-03 -5.90947784e+00] [ 7.92792278e-03 -4.38250592e-03 9.99958970e-01 5.91465468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98165253199998 meters 0.16560827430264133 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966334e-01 -2.70389767e-03 -7.74726457e-03 -4.71741284e+00] [ 2.73575112e-03 9.99987837e-01 4.10393064e-03 -5.90803079e+00] [ 7.73607373e-03 -4.12498706e-03 9.99961568e-01 5.91888554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01165253199999 meters 0.164257361497666 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966713e-01 -2.82538035e-03 -7.65435572e-03 -4.71750343e+00] [ 2.85419794e-03 9.99988871e-01 3.75655739e-03 -5.90699928e+00] [ 7.64365683e-03 -3.77827939e-03 9.99963649e-01 5.91629537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04165253199999 meters 0.16420211245082594 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.91, Z:0.59 [[ 9.99966914e-01 -3.07051428e-03 -7.53277058e-03 -4.71750187e+00] [ 3.09429373e-03 9.99990260e-01 3.14717948e-03 -5.90523681e+00] [ 7.52303375e-03 -3.17038396e-03 9.99966676e-01 5.91049955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07165253199999 meters 0.1612643234183302 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99968458e-01 -3.17635893e-03 -7.27974116e-03 -4.71808196e+00] [ 3.19450691e-03 9.99991816e-01 2.48267346e-03 -5.90278115e+00] [ 7.27179572e-03 -2.50585033e-03 9.99970420e-01 5.90816175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10165253199999 meters 0.16526962159913 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99971575e-01 -3.18125448e-03 -6.83577753e-03 -4.71905247e+00] [ 3.19403815e-03 9.99993169e-01 1.86000834e-03 -5.90046460e+00] [ 6.82981368e-03 -1.88178921e-03 9.99974906e-01 5.90460270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13165253199999 meters 0.16633401952589194 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99976094e-01 -3.04536943e-03 -6.20780910e-03 -4.72063815e+00] [ 3.05393762e-03 9.99994397e-01 1.37121593e-03 -5.89811948e+00] [ 6.20359846e-03 -1.39014141e-03 9.99979791e-01 5.90447203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16165253199999 meters 0.16577398652129832 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.90, Z:0.59 [[ 9.99976720e-01 -2.96027307e-03 -6.14785654e-03 -4.72108767e+00] [ 2.96914264e-03 9.99994564e-01 1.43408303e-03 -5.89782304e+00] [ 6.14357784e-03 -1.45230351e-03 9.99980073e-01 5.90892808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19165253199999 meters 0.16549280788526285 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99981395e-01 -2.71618855e-03 -5.46185369e-03 -4.72325826e+00] [ 2.72138642e-03 9.99995851e-01 9.44461557e-04 -5.89431762e+00] [ 5.45926569e-03 -9.59307799e-04 9.99984638e-01 5.91562773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221652532 meters 0.1641797555323017 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99982840e-01 -2.58525354e-03 -5.25704212e-03 -4.72409875e+00] [ 2.59030415e-03 9.99996190e-01 9.54150740e-04 -5.89365577e+00] [ 5.25455537e-03 -9.67751705e-04 9.99985726e-01 5.92068540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251652532 meters 0.16353530718253595 Centerline is valid? [False, False] Translation: X:-4.72, Y:-5.89, Z:0.59 [[ 9.99982746e-01 -2.56474310e-03 -5.28488075e-03 -4.72409589e+00] [ 2.56988016e-03 9.99996232e-01 9.65468850e-04 -5.89367138e+00] [ 5.28238466e-03 -9.79033702e-04 9.99985569e-01 5.92159676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281652532 meters 0.16232896529323726 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.89, Z:0.59 [[ 9.99985694e-01 -2.36158508e-03 -4.79944150e-03 -4.72565213e+00] [ 2.36477477e-03 9.99996987e-01 6.59030947e-04 -5.89148849e+00] [ 4.79787068e-03 -6.70371117e-04 9.99988265e-01 5.92581095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311652532 meters 0.16415757278774484 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.89, Z:0.59 [[ 9.99986045e-01 -2.44643584e-03 -4.68248413e-03 -4.72586719e+00] [ 2.44812492e-03 9.99996940e-01 3.55025220e-04 -5.89046642e+00] [ 4.68160126e-03 -3.66483571e-04 9.99988974e-01 5.92375132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34165253199998 meters 0.16304541063323025 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.89, Z:0.59 [[ 9.99987163e-01 -2.53151113e-03 -4.38928567e-03 -4.72663109e+00] [ 2.53094426e-03 9.99996788e-01 -1.34698361e-04 -5.88822771e+00] [ 4.38961257e-03 1.23587595e-04 9.99990358e-01 5.92305226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37165253199998 meters 0.16976746876367158 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.89, Z:0.59 [[ 9.99988830e-01 -2.52663594e-03 -3.99452715e-03 -4.72781357e+00] [ 2.52443298e-03 9.99996659e-01 -5.56439800e-04 -5.88584315e+00] [ 3.99591973e-03 5.46349669e-04 9.99991867e-01 5.92512923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40165253199999 meters 0.16115616538481095 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.88, Z:0.59 [[ 9.99991447e-01 -2.37539226e-03 -3.38583222e-03 -4.72982798e+00] [ 2.37215301e-03 9.99996725e-01 -9.60404154e-04 -5.88257493e+00] [ 3.38810247e-03 9.52364227e-04 9.99993807e-01 5.93192285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43165253199999 meters 0.17631367256780603 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.88, Z:0.59 [[ 9.99992305e-01 -2.31294291e-03 -3.16866761e-03 -4.73065258e+00] [ 2.30951977e-03 9.99996746e-01 -1.08354266e-03 -5.88150786e+00] [ 3.17116347e-03 1.07621622e-03 9.99994393e-01 5.93600782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46165253199999 meters 0.1695348612735902 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.88, Z:0.59 [[ 9.99993673e-01 -2.11111973e-03 -2.86289971e-03 -4.73200871e+00] [ 2.10818461e-03 9.99997250e-01 -1.02785783e-03 -5.88048220e+00] [ 2.86506176e-03 1.02181581e-03 9.99995374e-01 5.94494033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49165253199999 meters 0.17076193213101734 Centerline is valid? [False, False] Translation: X:-4.73, Y:-5.88, Z:0.60 [[ 9.99995146e-01 -1.92559552e-03 -2.44968179e-03 -4.73352560e+00] [ 1.92291206e-03 9.99997549e-01 -1.09731702e-03 -5.87899540e+00] [ 2.45178877e-03 1.09260117e-03 9.99996397e-01 5.95209558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52165253199999 meters 0.1688149575284941 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.88, Z:0.60 [[ 9.99997780e-01 -1.43018254e-03 -1.54764660e-03 -4.73648771e+00] [ 1.42824978e-03 9.99998200e-01 -1.24922344e-03 -5.87584052e+00] [ 1.54943043e-03 1.24701024e-03 9.99998022e-01 5.96446452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55165253199999 meters 0.16775225532657917 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.88, Z:0.60 [[ 9.99998052e-01 -1.30752812e-03 -1.47878645e-03 -4.73676431e+00] [ 1.30589909e-03 9.99998540e-01 -1.10203219e-03 -5.87624537e+00] [ 1.48022523e-03 1.10009889e-03 9.99998299e-01 5.96629920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58165253199999 meters 0.1598714541997718 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.87, Z:0.60 [[ 9.99999201e-01 -9.19582242e-04 -8.67038073e-04 -4.73899953e+00] [ 9.18587666e-04 9.99998921e-01 -1.14679788e-03 -5.87427842e+00] [ 8.68091712e-04 1.14600051e-03 9.99998967e-01 5.97684487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611652532 meters 0.1711117993105572 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.87, Z:0.60 [[ 9.99999792e-01 -5.91972835e-04 -2.56966848e-04 -4.74112009e+00] [ 5.91661975e-04 9.99999095e-01 -1.20812571e-03 -5.87223395e+00] [ 2.57681793e-04 1.20797342e-03 9.99999237e-01 5.98585961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641652532 meters 0.16814151627269308 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.87, Z:0.60 [[ 9.99999911e-01 -3.70228037e-04 2.02289181e-04 -4.74280202e+00] [ 3.70478699e-04 9.99999162e-01 -1.24049837e-03 -5.87070413e+00] [-2.01829744e-04 1.24057321e-03 9.99999210e-01 5.99394756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671652532 meters 0.16557844961210874 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.87, Z:0.60 [[ 9.99999836e-01 -3.39457001e-04 4.61754311e-04 -4.74369507e+00] [ 3.40108926e-04 9.99998945e-01 -1.41250038e-03 -5.86934032e+00] [-4.61274341e-04 1.41265719e-03 9.99998896e-01 5.99712504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70165253199998 meters 0.16886133555933233 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.87, Z:0.60 [[ 9.99999742e-01 -2.13753576e-04 6.86224220e-04 -4.74463483e+00] [ 2.14694935e-04 9.99999036e-01 -1.37201338e-03 -5.86868515e+00] [-6.85930286e-04 1.37216036e-03 9.99998823e-01 6.00288798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73165253199998 meters 0.1793518147648226 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99999405e-01 1.27221359e-04 1.08348009e-03 -4.74627371e+00] [-1.25996098e-04 9.99999353e-01 -1.13085002e-03 -5.86803760e+00] [-1.08362326e-03 1.13071283e-03 9.99998774e-01 6.01313247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76165253199999 meters 0.17445137793705875 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99999235e-01 3.93602223e-04 1.17288003e-03 -4.74697612e+00] [-3.92759975e-04 9.99999665e-01 -7.18246582e-04 -5.86865196e+00] [-1.17316234e-03 7.17785372e-04 9.99999054e-01 6.02101645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79165253199999 meters 0.1628712160099008 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99999175e-01 6.50080871e-04 1.10766704e-03 -4.74712650e+00] [-6.49977863e-04 9.99999784e-01 -9.33531021e-05 -5.87029593e+00] [-1.10772749e-03 9.26330661e-05 9.99999382e-01 6.02677765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82165253199999 meters 0.16504289155676782 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99999166e-01 6.02650259e-04 1.14208446e-03 -4.74710062e+00] [-6.02483306e-04 9.99999808e-01 -1.46521131e-04 -5.87014109e+00] [-1.14217255e-03 1.45832922e-04 9.99999337e-01 6.02491256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85165253199999 meters 0.16304599210414758 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998968e-01 6.99496549e-04 1.25505205e-03 -4.74753893e+00] [-6.99492641e-04 9.99999755e-01 -3.55276759e-06 -5.87020825e+00] [-1.25505422e-03 2.67486425e-06 9.99999212e-01 6.02727470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88165253199999 meters 0.18925242815281923 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99999100e-01 5.95085927e-04 1.20284676e-03 -4.74707050e+00] [-5.95018079e-04 9.99999821e-01 -5.67635707e-05 -5.87052433e+00] [-1.20288032e-03 5.60478040e-05 9.99999275e-01 6.02190795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91165253199999 meters 0.17325324274301057 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998887e-01 7.30630212e-04 1.30098115e-03 -4.74739089e+00] [-7.30893312e-04 9.99999713e-01 2.01767794e-04 -5.87100883e+00] [-1.30083335e-03 -2.02718448e-04 9.99999133e-01 6.02300877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94165253199999 meters 0.17325324274301057 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998887e-01 7.30630212e-04 1.30098115e-03 -4.74739089e+00] [-7.30893312e-04 9.99999713e-01 2.01767794e-04 -5.87100883e+00] [-1.30083335e-03 -2.02718448e-04 9.99999133e-01 6.02300877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971652532 meters 0.1719738801894751 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998821e-01 7.68520040e-04 1.32972880e-03 -4.74747804e+00] [-7.68932082e-04 9.99999657e-01 3.09385262e-04 -5.87131159e+00] [-1.32949057e-03 -3.10407369e-04 9.99999068e-01 6.02347799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001652532 meters 0.16923716926376492 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998767e-01 8.96160017e-04 1.28941181e-03 -4.74748584e+00] [-8.96992096e-04 9.99999390e-01 6.44883274e-04 -5.87233839e+00] [-1.28883310e-03 -6.46039071e-04 9.99998961e-01 6.02593921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031652532 meters 0.19772861197861366 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998659e-01 1.03375017e-03 1.27017549e-03 -4.74746458e+00] [-1.03502071e-03 9.99998964e-01 1.00004285e-03 -5.87359806e+00] [-1.26914038e-03 -1.00135617e-03 9.99998693e-01 6.02727863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061652532 meters 0.19773778289508775 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998519e-01 1.05012779e-03 1.36350918e-03 -4.74758700e+00] [-1.05155258e-03 9.99998901e-01 1.04465163e-03 -5.87381141e+00] [-1.36241067e-03 -1.04608389e-03 9.99998525e-01 6.02564403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09165253199998 meters 0.17494549978034393 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998572e-01 1.02842127e-03 1.34074541e-03 -4.74742118e+00] [-1.02988698e-03 9.99998872e-01 1.09297496e-03 -5.87410847e+00] [-1.33961986e-03 -1.09435422e-03 9.99998504e-01 6.02404030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12165253199998 meters 0.1614308741513434 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.88, Z:0.60 [[ 9.99998779e-01 1.09556403e-03 1.11436951e-03 -4.74682701e+00] [-1.09724907e-03 9.99998254e-01 1.51261941e-03 -5.87593333e+00] [-1.11271040e-03 -1.51384030e-03 9.99998235e-01 6.02420763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15165253199999 meters 0.16139797053702823 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.88, Z:0.60 [[ 9.99998672e-01 1.05917217e-03 1.23863970e-03 -4.74694410e+00] [-1.06092074e-03 9.99998441e-01 1.41188152e-03 -5.87576255e+00] [-1.23714234e-03 -1.41319374e-03 9.99998236e-01 6.02100610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18165253199999 meters 0.18744525576609533 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998452e-01 1.01992871e-03 1.43368152e-03 -4.74734343e+00] [-1.02167519e-03 9.99998736e-01 1.21797313e-03 -5.87499354e+00] [-1.43243746e-03 -1.21943600e-03 9.99998231e-01 6.01925752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21165253199999 meters 0.16571632831093316 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998326e-01 8.76813799e-04 1.60581015e-03 -4.74754339e+00] [-8.78189238e-04 9.99999248e-01 8.56034261e-04 -5.87392044e+00] [-1.60505836e-03 -8.57443033e-04 9.99998344e-01 6.01514028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24165253199999 meters 0.16961511928322898 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99998008e-01 7.74088984e-04 1.83977397e-03 -4.74797414e+00] [-7.75001325e-04 9.99999577e-01 4.95237448e-04 -5.87273666e+00] [-1.83938984e-03 -4.96662288e-04 9.99998185e-01 6.01232524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27165253199999 meters 0.18581247033244508 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99997150e-01 8.25714651e-04 2.24000184e-03 -4.74905134e+00] [-8.26201462e-04 9.99999635e-01 2.16409259e-04 -5.87139775e+00] [-2.23982233e-03 -2.18259335e-04 9.99997468e-01 6.01335776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30165253199999 meters 0.17705203908146186 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99996634e-01 8.36040439e-04 2.45624374e-03 -4.74970594e+00] [-8.36178376e-04 9.99999649e-01 5.51312231e-05 -5.87052384e+00] [-2.45619678e-03 -5.71848954e-05 9.99996982e-01 6.01500609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33165253199999 meters 0.18595969625125583 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99995911e-01 7.97225855e-04 2.74625888e-03 -4.75039345e+00] [-7.96516556e-04 9.99999649e-01 -2.59362524e-04 -5.86926277e+00] [-2.74646469e-03 2.57174023e-04 9.99996195e-01 6.01420854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361652532 meters 0.18353629726948006 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99995183e-01 7.60099521e-04 3.00949691e-03 -4.75114120e+00] [-7.58261458e-04 9.99999525e-01 -6.11848269e-04 -5.86761855e+00] [-3.00996055e-03 6.09563336e-04 9.99995284e-01 6.01516858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391652532 meters 0.185057249076225 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.86, Z:0.60 [[ 9.99993490e-01 5.84132582e-04 3.56083264e-03 -4.75225482e+00] [-5.79101065e-04 9.99998833e-01 -1.41388409e-03 -5.86432026e+00] [-3.56165438e-03 1.41181280e-03 9.99992661e-01 6.00960844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421652532 meters 0.18631034846144223 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.86, Z:0.60 [[ 9.99991675e-01 6.54602844e-04 4.02763296e-03 -4.75360454e+00] [-6.47577189e-04 9.99998267e-01 -1.74542023e-03 -5.86231848e+00] [-4.02876854e-03 1.74279750e-03 9.99990366e-01 6.01134007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45165253199998 meters 0.18334814638214245 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.86, Z:0.60 [[ 9.99978386e-01 4.98436961e-03 4.28751139e-03 -4.75441717e+00] [-4.99436122e-03 9.99984830e-01 2.32285684e-03 -5.86087994e+00] [-4.27586837e-03 -2.34422001e-03 9.99988111e-01 6.01376718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48165253199998 meters 0.18111557290490637 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.86, Z:0.60 [[ 9.99978501e-01 4.78139495e-03 4.48731531e-03 -4.75468952e+00] [-4.78952169e-03 9.99986906e-01 1.80205167e-03 -5.85920466e+00] [-4.47864024e-03 -1.82350502e-03 9.99988308e-01 6.00927537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51165253199999 meters 0.17778909662481704 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.86, Z:0.60 [[ 9.99979293e-01 4.46829023e-03 4.63115566e-03 -4.75463370e+00] [-4.47345893e-03 9.99989382e-01 1.10631462e-03 -5.85727502e+00] [-4.62616315e-03 -1.12700899e-03 9.99988664e-01 6.00161048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54165253199999 meters 0.19685036697536465 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99977373e-01 4.08558177e-03 5.34427068e-03 -4.75580486e+00] [-4.08393270e-03 9.99991610e-01 -3.19445065e-04 -5.85230571e+00] [-5.34553096e-03 2.97612195e-04 9.99985668e-01 5.99047439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57165253199999 meters 0.18438967929855196 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99978196e-01 3.70541857e-03 5.46604639e-03 -4.75567946e+00] [-3.69940834e-03 9.99992542e-01 -1.10925654e-03 -5.85012618e+00] [-5.47011589e-03 1.08901122e-03 9.99984446e-01 5.98245285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60165253199999 meters 0.1839986908283546 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99976820e-01 3.75823383e-03 5.67754275e-03 -4.75634259e+00] [-3.75140022e-03 9.99992227e-01 -1.21378997e-03 -5.84933766e+00] [-5.68206032e-03 1.19246310e-03 9.99983146e-01 5.98404909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63165253199999 meters 0.19783564998911304 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99976642e-01 3.53761319e-03 5.84808176e-03 -4.75653453e+00] [-3.52726311e-03 9.99992196e-01 -1.77919258e-03 -5.84761998e+00] [-5.85433022e-03 1.75852330e-03 9.99981317e-01 5.97935991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66165253199999 meters 0.20155642839930307 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.84, Z:0.60 [[ 9.99971265e-01 3.44080634e-03 6.75503889e-03 -4.75840424e+00] [-3.42190138e-03 9.99990202e-01 -2.80821249e-03 -5.84350931e+00] [-6.76463522e-03 2.78501672e-03 9.99973241e-01 5.97467634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69165253199999 meters 0.1856050943141278 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.84, Z:0.60 [[ 9.99970089e-01 3.59561293e-03 6.84787291e-03 -4.75897837e+00] [-3.57764569e-03 9.99990131e-01 -2.63421437e-03 -5.84349420e+00] [-6.85727694e-03 2.60963631e-03 9.99973083e-01 5.98005588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721652532 meters 0.1879591798702171 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.84, Z:0.60 [[ 9.99968413e-01 3.57325958e-03 7.09970120e-03 -4.75953775e+00] [-3.55334747e-03 9.99989724e-01 -2.81527758e-03 -5.84277096e+00] [-7.10968796e-03 2.78996095e-03 9.99970834e-01 5.97908930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751652532 meters 0.19698309378406628 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.84, Z:0.60 [[ 9.99967938e-01 3.81876251e-03 7.03843380e-03 -4.75976318e+00] [-3.80261898e-03 9.99990112e-01 -2.30558301e-03 -5.84400201e+00] [-7.04716868e-03 2.27874461e-03 9.99972572e-01 5.98581599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781652532 meters 0.18841178509721293 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.84, Z:0.60 [[ 9.99966502e-01 3.88706240e-03 7.20321247e-03 -4.76004216e+00] [-3.87130759e-03 9.99990087e-01 -2.19984710e-03 -5.84446467e+00] [-7.21169201e-03 2.17188756e-03 9.99971637e-01 5.98407157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811652532 meters 0.1924773175716925 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99970586e-01 3.73792328e-03 6.69739269e-03 -4.75850399e+00] [-3.72525847e-03 9.99991251e-01 -1.90248481e-03 -5.84653588e+00] [-6.70444544e-03 1.87747933e-03 9.99975762e-01 5.97976314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84165253199998 meters 0.1771955670706012 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99977893e-01 -2.95470704e-04 6.64272092e-03 -4.75811241e+00] [ 3.32093383e-04 9.99984749e-01 -5.51277768e-03 -5.84953240e+00] [-6.64099075e-03 5.51486182e-03 9.99962741e-01 5.97654918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87165253199998 meters 0.18369209563844172 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.85, Z:0.60 [[ 9.99980071e-01 3.48784661e-05 6.31314149e-03 -4.75766943e+00] [-7.04574350e-06 9.99990282e-01 -4.40866470e-03 -5.85299227e+00] [-6.31323391e-03 4.40853236e-03 9.99970354e-01 5.98398339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90165253199999 meters 0.18487845163841946 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.86, Z:0.60 [[ 9.99982441e-01 3.12643226e-04 5.91773048e-03 -4.75705331e+00] [-2.92746178e-04 9.99994303e-01 -3.36284451e-03 -5.85629084e+00] [-5.91874813e-03 3.36105307e-03 9.99976836e-01 5.99127061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93165253199999 meters 0.1796130668030007 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.86, Z:0.60 [[ 9.99983550e-01 5.84764238e-04 5.70599796e-03 -4.75670616e+00] [-5.70374355e-04 9.99996654e-01 -2.52318865e-03 -5.85907880e+00] [-5.70745434e-03 2.51989259e-03 9.99980537e-01 5.99548668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96165253199999 meters 0.18184728119742766 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99981036e-01 -3.45050985e-03 5.10122073e-03 -4.75499212e+00] [ 3.47737206e-03 9.99980086e-01 -5.26638173e-03 -5.86509017e+00] [-5.08294744e-03 5.28402070e-03 9.99973121e-01 5.99550708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99165253199999 meters 0.16782201089013968 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.87, Z:0.60 [[ 9.99985050e-01 -2.99425379e-03 4.57533173e-03 -4.75417577e+00] [ 3.01082255e-03 9.99988920e-01 -3.61873728e-03 -5.87051907e+00] [-4.56444561e-03 3.63245870e-03 9.99982985e-01 6.00582438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02165253199999 meters 0.16839133554196964 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.88, Z:0.60 [[ 9.99988615e-01 -2.70082724e-03 3.93386440e-03 -4.75284776e+00] [ 2.70933534e-03 9.99993999e-01 -2.15906452e-03 -5.87580938e+00] [-3.92800954e-03 2.16969810e-03 9.99989932e-01 6.01271734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05165253199999 meters 0.17329782094196533 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.88, Z:0.60 [[ 9.99991513e-01 -2.45979340e-03 3.30509584e-03 -4.75153419e+00] [ 2.46243191e-03 9.99996653e-01 -7.94482346e-04 -5.88099552e+00] [-3.30313051e-03 8.02614176e-04 9.99994223e-01 6.01839008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08165253199999 meters 0.16104872625173802 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.89, Z:0.60 [[ 9.99973475e-01 -6.84129804e-03 2.49899055e-03 -4.74878977e+00] [ 6.85044013e-03 9.99969807e-01 -3.66825814e-03 -5.88743124e+00] [-2.47381945e-03 3.68528003e-03 9.99990149e-01 6.01013216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111652532 meters 0.16128967003344982 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.89, Z:0.60 [[ 9.99976929e-01 -6.53251205e-03 1.86238266e-03 -4.74768753e+00] [ 6.53627530e-03 9.99976594e-01 -2.02179078e-03 -5.89276055e+00] [-1.84913170e-03 2.03391718e-03 9.99996222e-01 6.02088756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141652532 meters 0.15835619695048186 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.90, Z:0.60 [[ 9.99977137e-01 -6.74905146e-03 4.20350703e-04 -4.74408626e+00] [ 6.74892659e-03 9.99977181e-01 2.97774752e-04 -5.90209474e+00] [-4.22350809e-04 -2.94931028e-04 9.99999867e-01 6.02747292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171652532 meters 0.15071836095419414 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.91, Z:0.60 [[ 9.99977833e-01 -6.65537149e-03 -1.97175497e-04 -4.74251847e+00] [ 6.65563913e-03 9.99976886e-01 1.38933066e-03 -5.90688723e+00] [ 1.87924427e-04 -1.39061219e-03 9.99999015e-01 6.02905852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20165253199998 meters 0.15214868024723735 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.91, Z:0.60 [[ 9.99980903e-01 -6.15457085e-03 -5.61639378e-04 -4.74227670e+00] [ 6.15617860e-03 9.99976824e-01 2.90722963e-03 -5.91149553e+00] [ 5.43733611e-04 -2.91063166e-03 9.99995616e-01 6.04285739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23165253199998 meters 0.1511682832013585 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99982293e-01 -5.89117825e-03 -8.41001486e-04 -4.74168550e+00] [ 5.89437000e-03 9.99975238e-01 3.84452618e-03 -5.91510812e+00] [ 8.18331872e-04 -3.84941528e-03 9.99992256e-01 6.04621533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26165253199999 meters 0.146191181604583 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99979785e-01 -6.07267101e-03 -1.88455384e-03 -4.73893612e+00] [ 6.08199627e-03 9.99969091e-01 4.98262109e-03 -5.92101127e+00] [ 1.85423778e-03 -4.99398222e-03 9.99985811e-01 6.04686072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29165253199999 meters 0.1428192168301757 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99979756e-01 -5.98905629e-03 -2.14922456e-03 -4.73818331e+00] [ 6.00088062e-03 9.99966659e-01 5.53805439e-03 -5.92357827e+00] [ 2.11598518e-03 -5.55083951e-03 9.99982355e-01 6.04686443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32165253199999 meters 0.14972516080092318 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.61 [[ 9.99981883e-01 -5.55598016e-03 -2.31616799e-03 -4.73829118e+00] [ 5.57100248e-03 9.99963157e-01 6.53065338e-03 -5.92653827e+00] [ 2.27979847e-03 -6.54343844e-03 9.99975993e-01 6.05677612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35165253199999 meters 0.14757908548388826 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.61 [[ 9.99981882e-01 -5.49245591e-03 -2.46361995e-03 -4.73784540e+00] [ 5.50916735e-03 9.99961509e-01 6.82858366e-03 -5.92798773e+00] [ 2.42601943e-03 -6.84203244e-03 9.99973650e-01 6.05622170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38165253199999 meters 0.13669692524398702 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99979943e-01 -5.66730760e-03 -2.82763398e-03 -4.73641626e+00] [ 5.68701907e-03 9.99959241e-01 7.01236388e-03 -5.92987209e+00] [ 2.78777751e-03 -7.02830404e-03 9.99971415e-01 6.04891149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41165253199999 meters 0.1449931233608694 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99979677e-01 -5.60944335e-03 -3.02995199e-03 -4.73584177e+00] [ 5.63174413e-03 9.99956743e-01 7.40241950e-03 -5.93159338e+00] [ 2.98829747e-03 -7.41933298e-03 9.99968011e-01 6.04840576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44165253199999 meters 0.1432687809201718 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99979230e-01 -5.65497301e-03 -3.09205966e-03 -4.73543043e+00] [ 5.67779126e-03 9.99956342e-01 7.42133175e-03 -5.93215853e+00] [ 3.04995723e-03 -7.43873367e-03 9.99967681e-01 6.04454037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471652532 meters 0.15365988156420668 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99980158e-01 -5.61600708e-03 -2.85367832e-03 -4.73593392e+00] [ 5.63668117e-03 9.99957548e-01 7.28906846e-03 -5.93179418e+00] [ 2.81262171e-03 -7.30500911e-03 9.99969363e-01 6.04230858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501652532 meters 0.1511732279999432 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99980969e-01 -5.52521257e-03 -2.74481900e-03 -4.73633983e+00] [ 5.54528660e-03 9.99957536e-01 7.36045547e-03 -5.93181428e+00] [ 2.70403437e-03 -7.37553620e-03 9.99969144e-01 6.04436882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531652532 meters 0.15059406278931983 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99981307e-01 -5.55575949e-03 -2.55326438e-03 -4.73689484e+00] [ 5.57368551e-03 9.99959487e-01 7.06817137e-03 -5.93059842e+00] [ 2.51389188e-03 -7.08227034e-03 9.99971760e-01 6.04482741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561652532 meters 0.14620477370930046 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99982289e-01 -5.46380396e-03 -2.35966826e-03 -4.73751203e+00] [ 5.48028399e-03 9.99960237e-01 7.03498301e-03 -5.93021091e+00] [ 2.32113667e-03 -7.04779007e-03 9.99972470e-01 6.04659977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59165253199998 meters 0.15381825204009703 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99982606e-01 -5.46236951e-03 -2.22472967e-03 -4.73785316e+00] [ 5.47763842e-03 9.99961081e-01 6.91599576e-03 -5.92981334e+00] [ 2.18686537e-03 -6.92806173e-03 9.99973609e-01 6.04639036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62165253199998 meters 0.15409631453321895 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99982807e-01 -5.49260128e-03 -2.05364938e-03 -4.73819389e+00] [ 5.50604500e-03 9.99963068e-01 6.59893816e-03 -5.92883568e+00] [ 2.01732820e-03 -6.61013219e-03 9.99976118e-01 6.04397055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65165253199999 meters 0.14956291916126793 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99983892e-01 -5.44627049e-03 -1.59787198e-03 -4.73935761e+00] [ 5.45602760e-03 9.99966100e-01 6.16686061e-03 -5.92694643e+00] [ 1.56423142e-03 -6.17547931e-03 9.99979708e-01 6.04297855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68165253199999 meters 0.14759485627776522 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.93, Z:0.60 [[ 9.99982834e-01 -5.69567978e-03 -1.37524330e-03 -4.73954329e+00] [ 5.70318714e-03 9.99968511e-01 5.51815468e-03 -5.92508608e+00] [ 1.34377035e-03 -5.52590322e-03 9.99983829e-01 6.03615494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71165253199999 meters 0.15608207983259872 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99982701e-01 -5.73080704e-03 -1.32463964e-03 -4.73974975e+00] [ 5.73785683e-03 9.99969061e-01 5.38096578e-03 -5.92440617e+00] [ 1.29376137e-03 -5.38847329e-03 9.99984645e-01 6.03682721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74165253199999 meters 0.15667296666308828 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99981373e-01 -5.96463624e-03 -1.29461940e-03 -4.73972470e+00] [ 5.97087236e-03 9.99970326e-01 4.86775688e-03 -5.92269106e+00] [ 1.26554659e-03 -4.87539622e-03 9.99987314e-01 6.03461269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77165253199999 meters 0.14955661392681371 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99982037e-01 -5.88872881e-03 -1.11704702e-03 -4.74031868e+00] [ 5.89403650e-03 9.99971065e-01 4.80929335e-03 -5.92216709e+00] [ 1.08869407e-03 -4.81579088e-03 9.99987811e-01 6.03644039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80165253199999 meters 0.15116147746907124 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99981804e-01 -5.94736779e-03 -1.01007279e-03 -4.74057763e+00] [ 5.95193103e-03 9.99971815e-01 4.57646546e-03 -5.92129601e+00] [ 9.82826394e-04 -4.58239407e-03 9.99989018e-01 6.03561290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83165253199999 meters 0.15116147746907124 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99981804e-01 -5.94736779e-03 -1.01007279e-03 -4.74057763e+00] [ 5.95193103e-03 9.99971815e-01 4.57646546e-03 -5.92129601e+00] [ 9.82826394e-04 -4.58239407e-03 9.99989018e-01 6.03561290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861652532 meters 0.14540755953512388 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99981367e-01 -6.03356026e-03 -9.28249567e-04 -4.74074782e+00] [ 6.03752162e-03 9.99972418e-01 4.32564622e-03 -5.92037496e+00] [ 9.02124917e-04 -4.33116995e-03 9.99990214e-01 6.03442340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891652532 meters 0.15144238065429272 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.92, Z:0.60 [[ 9.99981556e-01 -6.07013716e-03 -2.01241818e-04 -4.74250985e+00] [ 6.07076152e-03 9.99976251e-01 3.26255244e-03 -5.91604403e+00] [ 1.81432898e-04 -3.26371396e-03 9.99994658e-01 6.03071220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921652532 meters 0.15360557258469604 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.91, Z:0.60 [[ 9.99982220e-01 -5.93658622e-03 5.62400995e-04 -4.74450952e+00] [ 5.93511216e-03 9.99979040e-01 2.58740132e-03 -5.91284306e+00] [-5.77749538e-04 -2.58401740e-03 9.99996495e-01 6.03138771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95165253199998 meters 0.15399159992111047 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.60 [[ 9.99985029e-01 -5.24343558e-03 1.56472465e-03 -4.74785355e+00] [ 5.23938105e-03 9.99982935e-01 2.58415346e-03 -5.91022533e+00] [-1.57824779e-03 -2.57591659e-03 9.99995437e-01 6.04467381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98165253199998 meters 0.15734212484847024 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.61 [[ 9.99985249e-01 -4.93881051e-03 2.26051388e-03 -4.75030888e+00] [ 4.93394292e-03 9.99985508e-01 2.15384587e-03 -5.90660230e+00] [-2.27111856e-03 -2.14266085e-03 9.99995126e-01 6.05547353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01165253199999 meters 0.164442978586206 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.61 [[ 9.99985560e-01 -4.57698765e-03 2.81624641e-03 -4.75229117e+00] [ 4.57095022e-03 9.99987249e-01 2.14650039e-03 -5.90517341e+00] [-2.82603501e-03 -2.13359647e-03 9.99993731e-01 6.06401098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04165253199999 meters 0.16648829664471512 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.90, Z:0.61 [[ 9.99985341e-01 -4.50461919e-03 3.00419566e-03 -4.75311166e+00] [ 4.49859029e-03 9.99987860e-01 2.01057178e-03 -5.90400509e+00] [-3.01321605e-03 -1.99702766e-03 9.99993466e-01 6.06889995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07165253199999 meters 0.16374997298961488 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.90, Z:0.61 [[ 9.99984215e-01 -3.76020477e-03 4.17488460e-03 -4.75694851e+00] [ 3.75268595e-03 9.99991325e-01 1.80734033e-03 -5.90017453e+00] [-4.18164435e-03 -1.79164477e-03 9.99989652e-01 6.08314330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10165253199999 meters 0.1622273053214343 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.90, Z:0.61 [[ 9.99982575e-01 -3.80177043e-03 4.51621350e-03 -4.75789345e+00] [ 3.79573702e-03 9.99991893e-01 1.34376325e-03 -5.89789994e+00] [-4.52128556e-03 -1.32659748e-03 9.99988899e-01 6.08341041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13165253199999 meters 0.1658921839720936 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99979755e-01 -3.88572473e-03 5.03887955e-03 -4.75915388e+00] [ 3.88274254e-03 9.99992281e-01 6.01482648e-04 -5.89460397e+00] [-5.04117785e-03 -5.81905799e-04 9.99987124e-01 6.08225811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16165253199999 meters 0.17323108630981332 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99977002e-01 -3.65295555e-03 5.71419911e-03 -4.76125891e+00] [ 3.65180426e-03 9.99993310e-01 2.11899690e-04 -5.89172349e+00] [-5.71493494e-03 -1.91027680e-04 9.99983651e-01 6.08869637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19165253199999 meters 0.18493786202429677 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99972363e-01 -3.05435838e-03 6.77827928e-03 -4.76464987e+00] [ 3.05621134e-03 9.99995295e-01 -2.63026093e-04 -5.88752214e+00] [-6.77744401e-03 2.83734678e-04 9.99976993e-01 6.10207264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221652532 meters 0.17482943160539313 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.89, Z:0.61 [[ 9.99969550e-01 -2.93302544e-03 7.23168938e-03 -4.76602696e+00] [ 2.93665904e-03 9.99995567e-01 -4.91887823e-04 -5.88602271e+00] [-7.23021460e-03 5.13109850e-04 9.99973730e-01 6.10635257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251652532 meters 0.17763228310681914 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.89, Z:0.61 [[ 9.99970808e-01 -2.84939415e-03 7.08969955e-03 -4.76603058e+00] [ 2.85129764e-03 9.99995902e-01 -2.58392817e-04 -5.88639587e+00] [-7.08893423e-03 2.78600118e-04 9.99974834e-01 6.11242040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281652532 meters 0.17692233671902607 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.89, Z:0.61 [[ 9.99970682e-01 -2.75688277e-03 7.14385195e-03 -4.76645636e+00] [ 2.75840580e-03 9.99996175e-01 -2.03350266e-04 -5.88607003e+00] [-7.14326401e-03 2.23049947e-04 9.99974462e-01 6.11651713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311652532 meters 0.18306010607618203 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972808e-01 1.11621925e-03 7.28953409e-03 -4.76635213e+00] [-1.13917300e-03 9.99994404e-01 3.14547202e-03 -5.88316387e+00] [-7.28598226e-03 -3.15369053e-03 9.99968484e-01 6.10744146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34165253199998 meters 0.18230172477962683 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972308e-01 6.74495502e-04 7.41129920e-03 -4.76604226e+00] [-6.91491427e-04 9.99997137e-01 2.29092190e-03 -5.88089228e+00] [-7.40973277e-03 -2.29598331e-03 9.99969912e-01 6.09618436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37165253199998 meters 0.18369390873937574 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99971743e-01 3.23366930e-04 7.51060744e-03 -4.76581387e+00] [-3.35393931e-04 9.99998664e-01 1.60013096e-03 -5.87908687e+00] [-7.51007997e-03 -1.60260476e-03 9.99970515e-01 6.08754301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40165253199999 meters 0.17963274928546383 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99969679e-01 3.51059840e-04 7.77927480e-03 -4.76669282e+00] [-3.62439281e-04 9.99998866e-01 1.46142795e-03 -5.87806802e+00] [-7.77875293e-03 -1.46420315e-03 9.99968673e-01 6.09123335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43165253199999 meters 0.17711627412340086 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99970817e-01 4.22628464e-04 7.62794473e-03 -4.76640498e+00] [-4.36254634e-04 9.99998312e-01 1.78477339e-03 -5.87937038e+00] [-7.62717756e-03 -1.78804904e-03 9.99969314e-01 6.09376529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46165253199999 meters 0.1716575365634814 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99963720e-01 -3.56119719e-03 7.73803179e-03 -4.76711773e+00] [ 3.57686074e-03 9.99991580e-01 -2.01133404e-03 -5.88045323e+00] [-7.73080388e-03 2.03893893e-03 9.99968038e-01 6.10127309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49165253199999 meters 0.16301934297474446 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99969198e-01 -3.65110129e-03 6.94783885e-03 -4.76554556e+00] [ 3.65970722e-03 9.99992551e-01 -1.22633800e-03 -5.88328136e+00] [-6.94330961e-03 1.25172728e-03 9.99975112e-01 6.10752562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52165253199999 meters 0.1606828505851327 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99969665e-01 -3.78696583e-03 6.80645530e-03 -4.76512540e+00] [ 3.79620430e-03 9.99991890e-01 -1.34490252e-03 -5.88295290e+00] [-6.80130700e-03 1.37070042e-03 9.99975931e-01 6.10586682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55165253199999 meters 0.17412712014597787 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99965499e-01 -3.91386340e-03 7.32682597e-03 -4.76628333e+00] [ 3.92875817e-03 9.99990243e-01 -2.01962138e-03 -5.87958142e+00] [-7.31884996e-03 2.04833703e-03 9.99971119e-01 6.10189913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58165253199999 meters 0.16772667580245887 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99974153e-01 3.13688060e-04 7.18295486e-03 -4.76587709e+00] [-3.30026478e-04 9.99997361e-01 2.27353734e-03 -5.87966823e+00] [-7.18222272e-03 -2.27584914e-03 9.99971618e-01 6.10085446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611652532 meters 0.1735296478964099 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972156e-01 1.95342032e-04 7.45981988e-03 -4.76641798e+00] [-2.09284928e-04 9.99998233e-01 1.86833124e-03 -5.87833529e+00] [-7.45944173e-03 -1.86984044e-03 9.99970430e-01 6.09817396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641652532 meters 0.1753644258469167 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972838e-01 3.36497634e-04 7.36269304e-03 -4.76650308e+00] [-3.52598306e-04 9.99997549e-01 2.18560228e-03 -5.87906812e+00] [-7.36193955e-03 -2.18813899e-03 9.99970507e-01 6.10411721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671652532 meters 0.19243675277093422 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99973120e-01 7.18660912e-04 7.29681802e-03 -4.76691353e+00] [-7.39915810e-04 9.99995490e-01 2.91061791e-03 -5.88121634e+00] [-7.29469336e-03 -2.91593870e-03 9.99969142e-01 6.11497701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70165253199998 meters 0.17098956932579443 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99971858e-01 7.34000689e-04 7.46621581e-03 -4.76731526e+00] [-7.54911027e-04 9.99995800e-01 2.79822830e-03 -5.88075778e+00] [-7.46413055e-03 -2.80378588e-03 9.99968212e-01 6.11441158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73165253199998 meters 0.18877183121738866 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99970749e-01 5.71103239e-04 7.62728238e-03 -4.76746567e+00] [-5.89351117e-04 9.99996969e-01 2.39041493e-03 -5.87962088e+00] [-7.62589409e-03 -2.39484015e-03 9.99968055e-01 6.10991456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76165253199999 meters 0.18639705239897586 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99969996e-01 5.42454901e-04 7.72747078e-03 -4.76772329e+00] [-5.59941325e-04 9.99997287e-01 2.26090725e-03 -5.87905249e+00] [-7.72622337e-03 -2.26516634e-03 9.99967587e-01 6.10945962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79165253199999 meters 0.18778397366110164 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99968952e-01 2.87545256e-04 7.87478429e-03 -4.76787076e+00] [-3.00803788e-04 9.99998539e-01 1.68253664e-03 -5.87698878e+00] [-7.87428898e-03 -1.68485317e-03 9.99967578e-01 6.10437858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82165253199999 meters 0.17442418398530155 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99968522e-01 1.64858965e-05 7.93436120e-03 -4.76757371e+00] [-2.60608886e-05 9.99999272e-01 1.20667355e-03 -5.87594583e+00] [-7.93433553e-03 -1.20684234e-03 9.99967794e-01 6.09674767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85165253199999 meters 0.18156858430766537 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99968395e-01 -8.52756983e-05 7.94999591e-03 -4.76749486e+00] [ 7.71100856e-05 9.99999469e-01 1.02742248e-03 -5.87549568e+00] [-7.95007930e-03 -1.02677698e-03 9.99967870e-01 6.09489069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88165253199999 meters 0.18284952224575649 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99968023e-01 -4.60413690e-06 7.99702135e-03 -4.76775254e+00] [-4.60486576e-06 9.99999337e-01 1.15153530e-03 -5.87571523e+00] [-7.99702135e-03 -1.15153530e-03 9.99967360e-01 6.09745750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91165253199999 meters 0.17309800164747247 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99967160e-01 -2.06447872e-04 8.10164130e-03 -4.76770144e+00] [ 2.00566674e-04 9.99999716e-01 7.26732500e-04 -5.87464175e+00] [-8.10178903e-03 -7.25083715e-04 9.99966917e-01 6.09202687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94165253199999 meters 0.1767593082656333 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99965190e-01 -3.13811707e-04 8.33792515e-03 -4.76830119e+00] [ 3.10996540e-04 9.99999894e-01 3.38928443e-04 -5.87305074e+00] [-8.33803062e-03 -3.36323579e-04 9.99965181e-01 6.09182784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971652532 meters 0.17967809650310076 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99963258e-01 -5.26148032e-04 8.55608177e-03 -4.76881715e+00] [ 5.27732680e-04 9.99999844e-01 -1.82950628e-04 -5.87100774e+00] [-8.55598418e-03 1.87459230e-04 9.99963379e-01 6.09121600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001652532 meters 0.17055682366986166 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99963170e-01 -5.45064733e-04 8.56512778e-03 -4.76878194e+00] [ 5.46870047e-04 9.99999829e-01 -2.08434325e-04 -5.87103547e+00] [-8.56501270e-03 2.13110660e-04 9.99963297e-01 6.09045678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031652532 meters 0.17568708401934796 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99963588e-01 -5.64257481e-04 8.51498795e-03 -4.76863740e+00] [ 5.65892333e-04 9.99999822e-01 -1.89588890e-04 -5.87120999e+00] [-8.51487946e-03 1.94400553e-04 9.99963729e-01 6.09032949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061652532 meters 0.16794148807022224 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99963707e-01 -4.99893443e-04 8.50499574e-03 -4.76860540e+00] [ 5.00139354e-04 9.99999875e-01 -2.67868554e-05 -5.87178872e+00] [-8.50498129e-03 3.10395663e-05 9.99963832e-01 6.09037381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09165253199998 meters 0.171028643148739 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99963280e-01 -7.69509424e-04 8.53501570e-03 -4.76824680e+00] [ 7.73568454e-04 9.99999589e-01 -4.72282713e-04 -5.87089428e+00] [-8.53464877e-03 4.78867789e-04 9.99963465e-01 6.08278436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12165253199998 meters 0.1657611872127893 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99964330e-01 -7.83965347e-04 8.40972912e-03 -4.76801919e+00] [ 7.87382090e-04 9.99999609e-01 -4.02981366e-04 -5.87109629e+00] [-8.40940991e-03 4.09588662e-04 9.99964556e-01 6.08416116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15165253199999 meters 0.17523178189993338 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99959599e-01 -6.30246605e-04 8.96674308e-03 -4.76958853e+00] [ 6.35906249e-04 9.99999600e-01 -6.28344584e-04 -5.86939775e+00] [-8.96634348e-03 6.34021206e-04 9.99959601e-01 6.08769948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18165253199999 meters 0.1709273310851554 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99958320e-01 -6.94314878e-04 9.10365912e-03 -4.76986472e+00] [ 7.01786714e-04 9.99999420e-01 -8.17581992e-04 -5.86877802e+00] [-9.10308618e-03 8.23936742e-04 9.99958227e-01 6.08650321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21165253199999 meters 0.1710884712535722 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99958435e-01 -7.53444857e-04 9.08632739e-03 -4.76965004e+00] [ 7.61428222e-04 9.99999327e-01 -8.75185536e-04 -5.86888214e+00] [-9.08566188e-03 8.82067744e-04 9.99958335e-01 6.08406681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24165253199999 meters 0.16729626045418375 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99958624e-01 -3.86459016e-04 9.08853683e-03 -4.77024042e+00] [ 3.88082904e-04 9.99999909e-01 -1.76911392e-04 -5.87050580e+00] [-9.08846764e-03 1.80431178e-04 9.99958683e-01 6.09497508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27165253199999 meters 0.17668998617413587 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99959592e-01 -2.21820201e-04 8.98695366e-03 -4.77025756e+00] [ 2.19542716e-04 9.99999944e-01 2.54406979e-04 -5.87170691e+00] [-8.98700959e-03 -2.52423678e-04 9.99959584e-01 6.10012810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30165253199999 meters 0.17256481471923987 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.87, Z:0.61 [[ 9.99960943e-01 -2.73609622e-04 8.83390190e-03 -4.76969262e+00] [ 2.70438719e-04 9.99999899e-01 3.60139624e-04 -5.87251150e+00] [-8.83399954e-03 -3.57736529e-04 9.99960915e-01 6.09752478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33165253199999 meters 0.16173062077736927 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99965790e-01 -1.89576513e-04 8.26933863e-03 -4.76848850e+00] [ 1.79554421e-04 9.99999249e-01 1.21268368e-03 -5.87564266e+00] [-8.26956231e-03 -1.21115740e-03 9.99965073e-01 6.10251750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361652532 meters 0.1618521761864065 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99967381e-01 -1.52688469e-04 8.07551324e-03 -4.76800898e+00] [ 1.40340629e-04 9.99998820e-01 1.52959160e-03 -5.87690342e+00] [-8.07573726e-03 -1.52840839e-03 9.99966223e-01 6.10303755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391652532 meters 0.18383634259649748 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99968186e-01 -1.46930859e-04 7.97528032e-03 -4.76756515e+00] [ 1.33453317e-04 9.99998562e-01 1.69042043e-03 -5.87785836e+00] [-7.97551723e-03 -1.68930232e-03 9.99966768e-01 6.10015389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421652532 meters 0.1707652151301409 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99971031e-01 -1.54417686e-04 7.61007264e-03 -4.76636932e+00] [ 1.37954268e-04 9.99997649e-01 2.16384943e-03 -5.88033506e+00] [-7.61038889e-03 -2.16273690e-03 9.99968702e-01 6.09622798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45165253199998 meters 0.17149005401890466 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972557e-01 -1.58648891e-04 7.40669361e-03 -4.76576182e+00] [ 1.40896143e-04 9.99997117e-01 2.39731231e-03 -5.88151226e+00] [-7.40705258e-03 -2.39620294e-03 9.99969696e-01 6.09519840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48165253199998 meters 0.17019169892544664 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972561e-01 -1.41601787e-05 7.40785928e-03 -4.76592611e+00] [-5.79224967e-06 9.99996373e-01 2.69338514e-03 -5.88234472e+00] [-7.40787055e-03 -2.69335415e-03 9.99968934e-01 6.09828335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51165253199999 meters 0.1767758825443833 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99972129e-01 -3.12314101e-05 7.46590746e-03 -4.76586463e+00] [ 1.12080139e-05 9.99996403e-01 2.68200435e-03 -5.88260350e+00] [-7.46596437e-03 -2.68184593e-03 9.99968533e-01 6.09514168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54165253199999 meters 0.1770924896011925 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.88, Z:0.61 [[ 9.99973500e-01 -1.73078304e-05 7.28002315e-03 -4.76532100e+00] [-4.22273026e-06 9.99995627e-01 2.95745942e-03 -5.88396860e+00] [-7.28004250e-03 -2.95741179e-03 9.99969127e-01 6.09487682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57165253199999 meters 0.17074369790644583 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99978240e-01 -2.83572802e-04 6.59087591e-03 -4.76311133e+00] [ 2.62077693e-04 9.99994645e-01 3.26197822e-03 -5.88713437e+00] [-6.59176563e-03 -3.26017991e-03 9.99972960e-01 6.08782114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60165253199999 meters 0.1711703103185513 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99977889e-01 -2.96014210e-04 6.64328152e-03 -4.76307085e+00] [ 2.74579564e-04 9.99994755e-01 3.22719494e-03 -5.88727056e+00] [-6.64420197e-03 -3.22529948e-03 9.99972726e-01 6.08507677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63165253199999 meters 0.16935445864540855 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99978439e-01 -3.01729302e-04 6.55977453e-03 -4.76272619e+00] [ 2.79634088e-04 9.99994286e-01 3.36894494e-03 -5.88813777e+00] [-6.56075355e-03 -3.36703796e-03 9.99972809e-01 6.08343981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66165253199999 meters 0.1604605419992448 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99970000e-01 -4.78975288e-03 6.08743440e-03 -4.76100414e+00] [ 4.79316333e-03 9.99988364e-01 -5.45779487e-04 -5.89070969e+00] [-6.08474942e-03 5.74941181e-04 9.99981322e-01 6.07574127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69165253199999 meters 0.15973809978905623 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99972670e-01 -4.36356480e-03 5.96820437e-03 -4.76121247e+00] [ 4.36116984e-03 9.99990404e-01 4.14243002e-04 -5.89339063e+00] [-5.96995468e-03 -3.88203328e-04 9.99982104e-01 6.08480561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721652532 meters 0.15703196038044942 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99973248e-01 -4.34736277e-03 5.88250886e-03 -4.76082418e+00] [ 4.34404703e-03 9.99990399e-01 5.76319966e-04 -5.89430531e+00] [-5.88495785e-03 -5.50750653e-04 9.99982532e-01 6.08227656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751652532 meters 0.15703196038044942 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.89, Z:0.61 [[ 9.99973248e-01 -4.34736277e-03 5.88250886e-03 -4.76082418e+00] [ 4.34404703e-03 9.99990399e-01 5.76319966e-04 -5.89430531e+00] [-5.88495785e-03 -5.50750653e-04 9.99982532e-01 6.08227656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781652532 meters 0.16023122656890032 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.90, Z:0.61 [[ 9.99973789e-01 -3.86669654e-03 6.12126881e-03 -4.76173494e+00] [ 3.85843648e-03 9.99991631e-01 1.36063801e-03 -5.89635956e+00] [-6.12647875e-03 -1.33698382e-03 9.99980339e-01 6.08795846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811652532 meters 0.16265516370579253 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.90, Z:0.61 [[ 9.99976831e-01 -3.76893087e-03 5.66863596e-03 -4.76074759e+00] [ 3.75728125e-03 9.99990811e-01 2.06434770e-03 -5.89909098e+00] [-5.67636425e-03 -2.04300121e-03 9.99981802e-01 6.09118669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84165253199998 meters 0.1525708514749881 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.90, Z:0.61 [[ 9.99978937e-01 -3.38776410e-03 5.53608252e-03 -4.76078034e+00] [ 3.37143704e-03 9.99989948e-01 2.95588271e-03 -5.90193316e+00] [-5.54604071e-03 -2.93715589e-03 9.99980307e-01 6.09844024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87165253199998 meters 0.16142609017045345 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.61 [[ 9.99982597e-01 -3.42044916e-03 4.80689515e-03 -4.75877819e+00] [ 3.40204430e-03 9.99986872e-01 3.83182199e-03 -5.90691368e+00] [-4.81993860e-03 -3.81540203e-03 9.99981105e-01 6.09740640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90165253199999 meters 0.1655825138899596 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.61 [[ 9.99984003e-01 -3.38667071e-03 4.53039450e-03 -4.75798363e+00] [ 3.36730998e-03 9.99985195e-01 4.27434357e-03 -5.90901744e+00] [-4.54480322e-03 -4.25901995e-03 9.99980603e-01 6.09697371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93165253199999 meters 0.15374062725665644 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.61 [[ 9.99985608e-01 -3.47017818e-03 4.09174637e-03 -4.75661683e+00] [ 3.45085530e-03 9.99982906e-01 4.72004544e-03 -5.91168488e+00] [-4.10805582e-03 -4.70585748e-03 9.99980489e-01 6.09313301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96165253199999 meters 0.1713138533688594 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.61 [[ 9.99986940e-01 -3.67011650e-03 3.55657539e-03 -4.75473260e+00] [ 3.65168847e-03 9.99979947e-01 5.17411043e-03 -5.91486891e+00] [-3.57549366e-03 -5.16105535e-03 9.99980289e-01 6.08504162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99165253199999 meters 0.15380899028721906 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.61 [[ 9.99987427e-01 -4.06053127e-03 2.94234010e-03 -4.75254821e+00] [ 4.04474609e-03 9.99977503e-01 5.35107352e-03 -5.91725341e+00] [-2.96400211e-03 -5.33910522e-03 9.99981354e-01 6.07517097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02165253199999 meters 0.15449110608920105 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.61 [[ 9.99988865e-01 -3.84782032e-03 2.73223305e-03 -4.75216476e+00] [ 3.83115991e-03 9.99974196e-01 6.07700015e-03 -5.91993369e+00] [-2.75554576e-03 -6.06646486e-03 9.99977802e-01 6.07841717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05165253199999 meters 0.15196848189649645 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.61 [[ 9.99989610e-01 -3.86843963e-03 2.41147214e-03 -4.75105000e+00] [ 3.85242453e-03 9.99970727e-01 6.61085299e-03 -5.92284196e+00] [-2.43697523e-03 -6.60149429e-03 9.99975240e-01 6.07478752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08165253199999 meters 0.14534021463414024 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.61 [[ 9.99989687e-01 -3.93367671e-03 2.26981753e-03 -4.75048736e+00] [ 3.91827030e-03 9.99969525e-01 6.75249882e-03 -5.92385889e+00] [-2.29631050e-03 -6.74353543e-03 9.99974626e-01 6.07204401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111652532 meters 0.14165777455354017 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99990496e-01 -3.82280553e-03 2.09599249e-03 -4.75016737e+00] [ 3.80753811e-03 9.99966540e-01 7.24033875e-03 -5.92566193e+00] [-2.12360077e-03 -7.23228937e-03 9.99971592e-01 6.07523855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141652532 meters 0.14231682623630978 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99991336e-01 -3.62521256e-03 2.04570510e-03 -4.75023296e+00] [ 3.60937527e-03 9.99963894e-01 7.69303080e-03 -5.92722227e+00] [-2.07352011e-03 -7.68558043e-03 9.99968316e-01 6.07927506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171652532 meters 0.14025663541284783 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99969883e-01 -7.23879286e-03 2.79882153e-03 -4.75257147e+00] [ 7.22766027e-03 9.99966010e-01 3.96746308e-03 -5.92820694e+00] [-2.82744604e-03 -3.94711466e-03 9.99988213e-01 6.08748513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20165253199998 meters 0.14745114404196633 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99970648e-01 -7.16529898e-03 2.71311137e-03 -4.75226656e+00] [ 7.15376290e-03 9.99965431e-01 4.23806875e-03 -5.92949619e+00] [-2.74338461e-03 -4.21853540e-03 9.99987339e-01 6.08639374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23165253199998 meters 0.1463554217722941 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99968762e-01 -7.40224535e-03 2.77177711e-03 -4.75186003e+00] [ 7.39167998e-03 9.99965450e-01 3.80280854e-03 -5.92883402e+00] [-2.79983067e-03 -3.78220165e-03 9.99988928e-01 6.07674973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26165253199999 meters 0.137485056950516 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99969464e-01 -7.26350344e-03 2.88324400e-03 -4.75225879e+00] [ 7.25200718e-03 9.99965792e-01 3.97789292e-03 -5.92922216e+00] [-2.91203881e-03 -3.95686214e-03 9.99987932e-01 6.07845548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29165253199999 meters 0.14735440774053263 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99970168e-01 -7.12397101e-03 2.98521824e-03 -4.75271702e+00] [ 7.11163415e-03 9.99966212e-01 4.12308554e-03 -5.92937287e+00] [-3.01449012e-03 -4.10173276e-03 9.99987044e-01 6.08142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32165253199999 meters 0.14478766945876692 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99969698e-01 -7.15834975e-03 3.05954816e-03 -4.75295427e+00] [ 7.14613750e-03 9.99966530e-01 3.98398552e-03 -5.92879470e+00] [-3.08796452e-03 -3.96200084e-03 9.99987383e-01 6.08215375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35165253199999 meters 0.14649468176772792 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99971148e-01 -6.94757320e-03 3.07148375e-03 -4.75341717e+00] [ 6.93407611e-03 9.99966352e-01 4.38334678e-03 -5.92956027e+00] [-3.10183402e-03 -4.36192241e-03 9.99985676e-01 6.08977602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38165253199999 meters 0.1441808641585848 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99969619e-01 -7.08297929e-03 3.25452261e-03 -4.75373702e+00] [ 7.07019878e-03 9.99967315e-01 3.92186535e-03 -5.92798358e+00] [-3.28219473e-03 -3.89873608e-03 9.99987013e-01 6.08676336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41165253199999 meters 0.1509439995466691 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.61 [[ 9.99968985e-01 -6.98375233e-03 3.64101183e-03 -4.75486651e+00] [ 6.97028580e-03 9.99968869e-01 3.69822909e-03 -5.92660766e+00] [-3.66672599e-03 -3.67273550e-03 9.99986533e-01 6.08873675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44165253199999 meters 0.1442487895032111 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.61 [[ 9.99968932e-01 -6.91758579e-03 3.77923635e-03 -4.75544868e+00] [ 6.90383361e-03 9.99969544e-01 3.63988500e-03 -5.92583950e+00] [-3.80430047e-03 -3.61368070e-03 9.99986234e-01 6.09222618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471652532 meters 0.14263738657049052 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.61 [[ 9.99968788e-01 -6.75537389e-03 4.09729587e-03 -4.75645068e+00] [ 6.74053385e-03 9.99970712e-01 3.62496870e-03 -5.92524351e+00] [-4.12166388e-03 -3.59723760e-03 9.99985036e-01 6.09539836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501652532 meters 0.14510919212411266 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.61 [[ 9.99967522e-01 -6.77083484e-03 4.37148621e-03 -4.75720593e+00] [ 6.75636448e-03 9.99971676e-01 3.31649291e-03 -5.92386399e+00] [-4.39381782e-03 -3.28684984e-03 9.99984945e-01 6.09657749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531652532 meters 0.14977545787858038 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99990891e-01 -1.77468918e-03 -3.88181676e-03 -4.74507589e+00] [ 1.77340583e-03 9.99998372e-01 -3.34020980e-04 -5.92181672e+00] [ 3.88240322e-03 3.27133901e-04 9.99992410e-01 6.15681139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561652532 meters 0.14889690542821096 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99992232e-01 -1.49671418e-03 -3.64620373e-03 -4.74625331e+00] [ 1.49648736e-03 9.99998878e-01 -6.49348450e-05 -5.92168153e+00] [ 3.64629683e-03 5.94778428e-05 9.99993350e-01 6.16613491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59165253199998 meters 0.1529365199571645 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99992794e-01 -1.28289137e-03 -3.57291278e-03 -4.74694092e+00] [ 1.28380190e-03 9.99999144e-01 2.52561294e-04 -5.92200309e+00] [ 3.57258571e-03 -2.57146386e-04 9.99993585e-01 6.17444733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62165253199998 meters 0.15313349178617508 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99993280e-01 -1.39058268e-03 -3.39199541e-03 -4.74732766e+00] [ 1.39014976e-03 9.99999025e-01 -1.29983578e-04 -5.92067697e+00] [ 3.39217286e-03 1.25267323e-04 9.99994239e-01 6.17286162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65165253199999 meters 0.14441674964304066 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99994600e-01 -1.37717628e-03 -2.98381471e-03 -4.74833194e+00] [ 1.37550517e-03 9.99998896e-01 -5.62037278e-04 -5.91877581e+00] [ 2.98458544e-03 5.57929991e-04 9.99995390e-01 6.17173351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68165253199999 meters 0.15705656708211663 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99995583e-01 -1.58008960e-03 -2.51754765e-03 -4.74911358e+00] [ 1.57652270e-03 9.99997752e-01 -1.41817022e-03 -5.91583709e+00] [ 2.51978283e-03 1.41419498e-03 9.99995825e-01 6.16467733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71165253199999 meters 0.15708821452963695 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.62 [[ 9.99996321e-01 -1.42842352e-03 -2.30596741e-03 -4.75020587e+00] [ 1.42510086e-03 9.99997945e-01 -1.44189533e-03 -5.91463699e+00] [ 2.30802231e-03 1.43860379e-03 9.99996302e-01 6.17360715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74165253199999 meters 0.15002763367647073 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.62 [[ 9.99997998e-01 -9.49252689e-04 -1.76152342e-03 -4.75232978e+00] [ 9.47156736e-04 9.99998843e-01 -1.19030534e-03 -5.91388126e+00] [ 1.76265129e-03 1.18863451e-03 9.99997740e-01 6.18566812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77165253199999 meters 0.1696487476704919 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.62 [[ 9.99998608e-01 -8.59155380e-04 -1.43034851e-03 -4.75335170e+00] [ 8.57172262e-04 9.99998671e-01 -1.38649388e-03 -5.91263987e+00] [ 1.43153782e-03 1.38526590e-03 9.99998016e-01 6.18886916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80165253199999 meters 0.1575474132626056 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.62 [[ 9.99998924e-01 -6.05223512e-04 -1.33612899e-03 -4.75409801e+00] [ 6.03850522e-04 9.99999290e-01 -1.02775202e-03 -5.91313001e+00] [ 1.33675006e-03 1.02694409e-03 9.99998579e-01 6.19722585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83165253199999 meters 0.15557244375582852 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999278e-01 -2.57031609e-04 -1.17345832e-03 -4.75521109e+00] [ 2.56311311e-04 9.99999779e-01 -6.13934602e-04 -5.91342448e+00] [ 1.17361586e-03 6.13633388e-04 9.99999123e-01 6.20885822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861652532 meters 0.15048131968701436 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999649e-01 6.10998154e-05 -8.36088264e-04 -4.75663467e+00] [-6.14146913e-05 9.99999927e-01 -3.76585606e-04 -5.91309702e+00] [ 8.36065194e-04 3.76636822e-04 9.99999580e-01 6.21824482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891652532 meters 0.1601220484514272 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999598e-01 -2.39949304e-05 -8.95856092e-04 -4.75631130e+00] [ 2.35974815e-05 9.99999901e-01 -4.43660584e-04 -5.91319551e+00] [ 8.95866649e-04 4.43639266e-04 9.99999500e-01 6.21534237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921652532 meters 0.16447114129880966 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.91, Z:0.62 [[ 9.99998915e-01 -4.14374190e-04 -1.41329948e-03 -4.75455570e+00] [ 4.13571349e-04 9.99999753e-01 -5.68306694e-04 -5.91403046e+00] [ 1.41353462e-03 5.67721577e-04 9.99998840e-01 6.20799674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95165253199998 meters 0.16181011750939073 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.92, Z:0.62 [[ 9.99998877e-01 -6.89625004e-05 -1.49712076e-03 -4.75491694e+00] [ 6.91282521e-05 9.99999991e-01 1.10662214e-04 -5.91564086e+00] [ 1.49711312e-03 -1.10765583e-04 9.99998873e-01 6.21781144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98165253199998 meters 0.16224396793662801 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999448e-01 1.09418253e-04 -1.04471628e-03 -4.75619887e+00] [-1.09439374e-04 9.99999994e-01 -2.01602918e-05 -5.91446937e+00] [ 1.04471407e-03 2.02746138e-05 9.99999454e-01 6.22020048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011652532 meters 0.16113474165200042 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999555e-01 -7.08747210e-06 -9.43599285e-04 -4.75627822e+00] [ 6.84226527e-06 9.99999966e-01 -2.59866276e-04 -5.91388477e+00] [ 9.43601094e-04 2.59859704e-04 9.99999521e-01 6.21751563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041652532 meters 0.15874722050842585 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999301e-01 1.08091353e-04 -1.17733404e-03 -4.75589604e+00] [-1.07815355e-04 9.99999967e-01 2.34487096e-04 -5.91554070e+00] [ 1.17735934e-03 -2.34359998e-04 9.99999279e-01 6.22146736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071652532 meters 0.15667625057021148 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999183e-01 4.53051972e-05 -1.27716191e-03 -4.75555641e+00] [-4.49886079e-05 9.99999968e-01 2.47912658e-04 -5.91588197e+00] [ 1.27717311e-03 -2.47854998e-04 9.99999154e-01 6.22050861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101652532 meters 0.15504366107926534 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999362e-01 3.76844208e-04 -1.06508199e-03 -4.75653577e+00] [-3.76137754e-04 9.99999709e-01 6.63408771e-04 -5.91664854e+00] [ 1.06533168e-03 -6.63007730e-04 9.99999213e-01 6.22834944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131652532 meters 0.16366636260707718 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999261e-01 4.53104754e-04 -1.12839592e-03 -4.75639546e+00] [-4.52064508e-04 9.99999473e-01 9.21964970e-04 -5.91768527e+00] [ 1.12881307e-03 -9.21454180e-04 9.99998938e-01 6.22928091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161652532 meters 0.16844412253052263 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999219e-01 4.92295678e-04 -1.14869256e-03 -4.75629071e+00] [-4.91114594e-04 9.99999351e-01 1.02825385e-03 -5.91817742e+00] [ 1.14919802e-03 -1.02768891e-03 9.99998812e-01 6.22863905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191652532 meters 0.16311761188379997 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999141e-01 4.92690540e-04 -1.21490790e-03 -4.75613510e+00] [-4.91262762e-04 9.99999189e-01 1.17523344e-03 -5.91874563e+00] [ 1.21548594e-03 -1.17463559e-03 9.99998571e-01 6.22975943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221652532 meters 0.15979161355786572 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999235e-01 3.73353526e-04 -1.17897422e-03 -4.75612483e+00] [-3.72238705e-04 9.99999484e-01 9.45663650e-04 -5.91810744e+00] [ 1.17932667e-03 -9.45224067e-04 9.99998858e-01 6.22796326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251652532 meters 0.16646354692604734 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999366e-01 2.29549402e-04 -1.10249856e-03 -4.75610128e+00] [-2.28842754e-04 9.99999768e-01 6.41035003e-04 -5.91731801e+00] [ 1.10264545e-03 -6.40782298e-04 9.99999187e-01 6.22431839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281652532 meters 0.15862361469628608 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999430e-01 5.22392414e-04 -9.31537557e-04 -4.75711199e+00] [-5.21452840e-04 9.99999355e-01 1.00858574e-03 -5.91759946e+00] [ 9.32063834e-04 -1.00809941e-03 9.99999057e-01 6.23382788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311652532 meters 0.1653091108445938 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999415e-01 6.14334731e-04 -8.90828285e-04 -4.75738174e+00] [-6.13314051e-04 9.99999156e-01 1.14558651e-03 -5.91788507e+00] [ 8.91531306e-04 -1.14503949e-03 9.99998947e-01 6.23687343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341652532 meters 0.1643920452383474 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999358e-01 9.59507397e-04 -6.03224485e-04 -4.75870668e+00] [-9.58598214e-04 9.99998407e-01 1.50569163e-03 -5.91809590e+00] [ 6.04668247e-04 -1.50511242e-03 9.99998685e-01 6.24656153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371652532 meters 0.1616965365047615 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999212e-01 9.09018650e-04 -8.65702483e-04 -4.75809573e+00] [-9.07539138e-04 9.99998130e-01 1.70789313e-03 -5.91901576e+00] [ 8.67253370e-04 -1.70710613e-03 9.99998167e-01 6.24833399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401652532 meters 0.15907114433005226 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999274e-01 6.13732830e-04 -1.03678575e-03 -4.75719102e+00] [-6.12362388e-04 9.99998939e-01 1.32161829e-03 -5.91855847e+00] [ 1.03759577e-03 -1.32098244e-03 9.99998589e-01 6.24056823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43165253200002 meters 0.16691400995333486 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999715e-01 6.16419226e-04 -4.36414393e-04 -4.75845229e+00] [-6.16153957e-04 9.99999626e-01 6.07710820e-04 -5.91563254e+00] [ 4.36788835e-04 -6.07441748e-04 9.99999720e-01 6.23517781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46165253200002 meters 0.16562648070684524 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999816e-01 5.02951060e-04 -3.39127755e-04 -4.75842238e+00] [-5.02831809e-04 9.99999812e-01 3.51634889e-04 -5.91518805e+00] [ 3.39304546e-04 -3.51464300e-04 9.99999881e-01 6.23053601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49165253200002 meters 0.16368858506485276 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999739e-01 4.56296900e-04 -5.60918710e-04 -4.75777167e+00] [-4.56051817e-04 9.99999801e-01 4.36981444e-04 -5.91593853e+00] [ 5.61117992e-04 -4.36725522e-04 9.99999747e-01 6.22955472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.521652532 meters 0.15708890586734175 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999701e-01 6.43790034e-04 -4.28362865e-04 -4.75844003e+00] [-6.43517639e-04 9.99999591e-01 6.35732379e-04 -5.91610414e+00] [ 4.28771968e-04 -6.35456530e-04 9.99999706e-01 6.23494371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551652532 meters 0.1639022653125014 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999492e-01 6.63920259e-04 -7.58103599e-04 -4.75772104e+00] [-6.63133425e-04 9.99999242e-01 1.03767823e-03 -5.91776191e+00] [ 7.58791959e-04 -1.03717498e-03 9.99999174e-01 6.23796079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581652532 meters 0.16307487505300514 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999671e-01 5.27379366e-04 -6.17028560e-04 -4.75772441e+00] [-5.27017028e-04 9.99999689e-01 5.87245989e-04 -5.91662807e+00] [ 6.17338069e-04 -5.86920611e-04 9.99999637e-01 6.23103013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611652532 meters 0.17284163136077238 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999755e-01 2.98326195e-04 -6.32460416e-04 -4.75726045e+00] [-2.98169156e-04 9.99999925e-01 2.48378300e-04 -5.91610371e+00] [ 6.32534466e-04 -2.48189659e-04 9.99999769e-01 6.22406900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641652532 meters 0.17284163136077238 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999755e-01 2.98326195e-04 -6.32460416e-04 -4.75726045e+00] [-2.98169156e-04 9.99999925e-01 2.48378300e-04 -5.91610371e+00] [ 6.32534466e-04 -2.48189659e-04 9.99999769e-01 6.22406900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671652532 meters 0.15636943541386 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999777e-01 7.85015071e-05 -6.63231831e-04 -4.75680726e+00] [-7.85804355e-05 9.99999990e-01 -1.18980541e-04 -5.91540083e+00] [ 6.63222484e-04 1.19032631e-04 9.99999773e-01 6.21782819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701652532 meters 0.16350142381112964 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999878e-01 2.83713190e-04 -4.05558893e-04 -4.75795629e+00] [-2.83723029e-04 9.99999959e-01 -2.42006942e-05 -5.91479636e+00] [ 4.05552011e-04 2.43157576e-05 9.99999917e-01 6.22583174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731652532 meters 0.16629052571512984 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999813e-01 3.36656843e-04 -5.10319120e-04 -4.75786601e+00] [-3.36574978e-04 9.99999930e-01 1.60495945e-04 -5.91537985e+00] [ 5.10373117e-04 -1.60324155e-04 9.99999857e-01 6.22914260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761652532 meters 0.1611379129628615 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999545e-01 6.91645497e-04 -6.57424477e-04 -4.75829943e+00] [-6.91014741e-04 9.99999301e-01 9.59178292e-04 -5.91700742e+00] [ 6.58087429e-04 -9.58723565e-04 9.99999324e-01 6.24324683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791652532 meters 0.16656873964566335 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999509e-01 6.62598140e-04 -7.37074564e-04 -4.75806203e+00] [-6.61848958e-04 9.99999265e-01 1.01620668e-03 -5.91730978e+00] [ 7.37747359e-04 -1.01571834e-03 9.99999212e-01 6.24285458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821652532 meters 0.16308313364530339 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999643e-01 5.19171188e-04 -6.66008032e-04 -4.75789783e+00] [-5.18678635e-04 9.99999592e-01 7.39519845e-04 -5.91676950e+00] [ 6.66391698e-04 -7.39174137e-04 9.99999505e-01 6.23688274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851652532 meters 0.15386668331364717 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.91, Z:0.62 [[ 9.99999926e-01 1.52589936e-04 -3.53632083e-04 -4.75791674e+00] [-1.52630469e-04 9.99999982e-01 -1.14595680e-04 -5.91454681e+00] [ 3.53614590e-04 1.14649646e-04 9.99999931e-01 6.22332740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881652532 meters 0.16187010431049823 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999873e-01 2.74985534e-04 -4.22866939e-04 -4.75800076e+00] [-2.74896468e-04 9.99999940e-01 2.10668032e-04 -5.91527269e+00] [ 4.22924845e-04 -2.10551761e-04 9.99999888e-01 6.22751576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911652532 meters 0.1569458869605092 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999747e-01 4.10977896e-04 -5.81070553e-04 -4.75775292e+00] [-4.10598797e-04 9.99999703e-01 6.52384004e-04 -5.91692576e+00] [ 5.81338496e-04 -6.52145251e-04 9.99999618e-01 6.23071747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941652532 meters 0.16646547298517825 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999714e-01 4.76100382e-04 -5.87162416e-04 -4.75765178e+00] [-4.75601352e-04 9.99999526e-01 8.49746901e-04 -5.91787465e+00] [ 5.87566702e-04 -8.49467403e-04 9.99999467e-01 6.22981468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971652532 meters 0.16289201124307648 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999417e-01 8.09017357e-04 -7.15360472e-04 -4.75776785e+00] [-8.07828321e-04 9.99998294e-01 1.66088012e-03 -5.92007654e+00] [ 7.16702933e-04 -1.66030126e-03 9.99998365e-01 6.23770965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001652532 meters 0.15944155279793343 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999517e-01 5.46276033e-04 -8.16584815e-04 -4.75699285e+00] [-5.45134710e-04 9.99998875e-01 1.39724844e-03 -5.91997814e+00] [ 8.17347180e-04 -1.39680262e-03 9.99998690e-01 6.22923903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031652532 meters 0.15614472264886295 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999408e-01 5.82046725e-04 -9.19795307e-04 -4.75668410e+00] [-5.80501940e-04 9.99998422e-01 1.67886305e-03 -5.92103963e+00] [ 9.20771033e-04 -1.67832811e-03 9.99998168e-01 6.22838746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061652532 meters 0.15943482318714622 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999402e-01 6.16138187e-04 -9.03697087e-04 -4.75663483e+00] [-6.14506770e-04 9.99998183e-01 1.80443724e-03 -5.92165499e+00] [ 9.04807227e-04 -1.80388083e-03 9.99997964e-01 6.22721113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091652532 meters 0.15144482733655065 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99999135e-01 6.24061463e-04 -1.15764233e-03 -4.75583744e+00] [-6.21488754e-04 9.99997340e-01 2.22139946e-03 -5.92375138e+00] [ 1.15902554e-03 -2.22067808e-03 9.99996863e-01 6.22542792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121652532 meters 0.16241602986564832 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.92, Z:0.62 [[ 9.99998954e-01 6.20365932e-04 -1.30636221e-03 -4.75531537e+00] [-6.17207237e-04 9.99996889e-01 2.41694855e-03 -5.92484471e+00] [ 1.30785754e-03 -2.41613973e-03 9.99996226e-01 6.22341454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151652532 meters 0.14801251055926762 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99999071e-01 5.80354796e-04 -1.23313950e-03 -4.75523502e+00] [-5.77409774e-04 9.99996984e-01 2.38724620e-03 -5.92512365e+00] [ 1.23452123e-03 -2.38653196e-03 9.99996390e-01 6.21898525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18165253200002 meters 0.15166887597747353 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99998873e-01 6.05922730e-04 -1.37395901e-03 -4.75483833e+00] [-6.02227786e-04 9.99996206e-01 2.68808929e-03 -5.92641840e+00] [ 1.37558257e-03 -2.68725882e-03 9.99995443e-01 6.21910120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21165253200002 meters 0.15602928454360127 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99998691e-01 6.84638475e-04 -1.46589643e-03 -4.75456480e+00] [-6.80228613e-04 9.99995249e-01 3.00669213e-03 -5.92773617e+00] [ 1.46794797e-03 -3.00569105e-03 9.99994405e-01 6.21899362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24165253200002 meters 0.15155234911637702 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99998503e-01 8.73299723e-04 -1.49381590e-03 -4.75452385e+00] [-8.68095629e-04 9.99993565e-01 3.48086651e-03 -5.92945586e+00] [ 1.49684613e-03 -3.47956452e-03 9.99992826e-01 6.22010288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.271652532 meters 0.1489565099502428 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99998399e-01 8.16764646e-04 -1.59201174e-03 -4.75406173e+00] [-8.11023552e-04 9.99993178e-01 3.60350382e-03 -5.93035045e+00] [ 1.59494409e-03 -3.60220690e-03 9.99992240e-01 6.21713074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301652532 meters 0.15024340082889828 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99998252e-01 9.07153720e-04 -1.63466413e-03 -4.75396607e+00] [-9.00781091e-04 9.99992009e-01 3.89496157e-03 -5.93141688e+00] [ 1.63818439e-03 -3.89348229e-03 9.99991079e-01 6.21766037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.331652532 meters 0.14537548228441854 Centerline is valid? [False, False] Translation: X:-4.75, Y:-5.93, Z:0.62 [[ 9.99992944e-01 -3.55777287e-03 -1.20574611e-03 -4.75438595e+00] [ 3.55664335e-03 9.99993236e-01 -9.37636934e-04 -5.93017738e+00] [ 1.20907385e-03 9.33341909e-04 9.99998834e-01 6.20559377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361652532 meters 0.1451180129880466 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99994387e-01 -3.17935663e-03 -1.05739887e-03 -4.75526928e+00] [ 3.17897110e-03 9.99994880e-01 -3.66077679e-04 -5.93131108e+00] [ 1.05855735e-03 3.62714184e-04 9.99999374e-01 6.21396657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.391652532 meters 0.14249684146857544 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99995476e-01 -2.90145707e-03 -7.93107713e-04 -4.75639448e+00] [ 2.90136976e-03 9.99995785e-01 -1.11211739e-04 -5.93130614e+00] [ 7.93427046e-04 1.08910138e-04 9.99999679e-01 6.22090481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421652532 meters 0.14328127622273668 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99996854e-01 -2.49098109e-03 -2.93269153e-04 -4.75824937e+00] [ 2.49102698e-03 9.99996885e-01 1.56217654e-04 -5.93092767e+00] [ 2.92879105e-04 -1.56947704e-04 9.99999945e-01 6.23036802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451652532 meters 0.1411861440466921 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99997545e-01 -2.19416637e-03 -3.09075888e-04 -4.75863778e+00] [ 2.19439681e-03 9.99997313e-01 7.47201312e-04 -5.93245463e+00] [ 3.07435574e-04 -7.47877712e-04 9.99999673e-01 6.23804215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481652532 meters 0.14307087451387926 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99998391e-01 -1.78735027e-03 -1.52277930e-04 -4.75969198e+00] [ 1.78754590e-03 9.99997565e-01 1.29433524e-03 -5.93335818e+00] [ 1.49964129e-04 -1.29460536e-03 9.99999151e-01 6.24868230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511652532 meters 0.14085670141165424 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998529e-01 -1.71497694e-03 -1.94595051e-05 -4.76016046e+00] [ 1.71500083e-03 9.99997682e-01 1.30193414e-03 -5.93320518e+00] [ 1.72266730e-05 -1.30196560e-03 9.99999152e-01 6.25061310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541652532 meters 0.14315994304516225 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.62 [[ 9.99998331e-01 -1.82572935e-03 -6.68418280e-05 -4.75985394e+00] [ 1.82580582e-03 9.99997658e-01 1.16245114e-03 -5.93308652e+00] [ 6.47193503e-05 -1.16257124e-03 9.99999322e-01 6.24749140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571652532 meters 0.15443816210734904 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998519e-01 -1.71328129e-03 1.66139161e-04 -4.76065588e+00] [ 1.71309075e-03 9.99997882e-01 1.14033553e-03 -5.93246089e+00] [-1.68092525e-04 -1.14004923e-03 9.99999336e-01 6.25046780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601652532 meters 0.1476984987319284 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998761e-01 -1.29881700e-03 8.88952111e-04 -4.76301360e+00] [ 1.29788877e-03 9.99998613e-01 1.04397151e-03 -5.93030109e+00] [-8.90306805e-04 -1.04281645e-03 9.99999060e-01 6.25957429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631652532 meters 0.14652006064634912 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998459e-01 -1.20097250e-03 1.28083398e-03 -4.76421930e+00] [ 1.19992278e-03 9.99998944e-01 8.20018236e-04 -5.92871692e+00] [-1.28181745e-03 -8.18480070e-04 9.99998844e-01 6.26257836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661652532 meters 0.1533955383052838 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998223e-01 -1.25037962e-03 1.41119563e-03 -4.76450065e+00] [ 1.24952111e-03 9.99999034e-01 6.09074162e-04 -5.92799572e+00] [-1.41195584e-03 -6.07309761e-04 9.99998819e-01 6.26193908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691652532 meters 0.15248280171637418 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.93, Z:0.63 [[ 9.99998076e-01 -1.33949125e-03 1.43325545e-03 -4.76443881e+00] [ 1.33886218e-03 9.99999007e-01 4.39783476e-04 -5.92763800e+00] [-1.43384312e-03 -4.37863699e-04 9.99998876e-01 6.26010334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721652532 meters 0.15432083009203207 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.93, Z:0.63 [[ 9.99998070e-01 -1.01668320e-03 1.68139330e-03 -4.76559483e+00] [ 1.01542114e-03 9.99999202e-01 7.51289359e-04 -5.92772920e+00] [-1.68215578e-03 -7.49580586e-04 9.99998304e-01 6.26855650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751652532 meters 0.15293255915279938 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.93, Z:0.63 [[ 9.99997593e-01 -1.06083964e-03 1.92037964e-03 -4.76615030e+00] [ 1.06004399e-03 9.99999352e-01 4.15291319e-04 -5.92652473e+00] [-1.92081896e-03 -4.13254633e-04 9.99998070e-01 6.26733183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781652532 meters 0.1621950544282787 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.93, Z:0.63 [[ 9.99997208e-01 -8.02375574e-04 2.22274948e-03 -4.76750104e+00] [ 8.01069303e-04 9.99999506e-01 5.88510425e-04 -5.92590388e+00] [-2.22322059e-03 -5.86728205e-04 9.99997357e-01 6.27736362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811652532 meters 0.15335818293116144 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99996674e-01 -7.95808792e-04 2.45326465e-03 -4.76820735e+00] [ 7.94830889e-04 9.99999604e-01 3.99562099e-04 -5.92482875e+00] [-2.45358166e-03 -3.97610840e-04 9.99996911e-01 6.27899786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841652532 meters 0.1568811034484541 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99995826e-01 -9.33210644e-04 2.73440633e-03 -4.76869908e+00] [ 9.33491374e-04 9.99999559e-01 -1.01391242e-04 -5.92308373e+00] [-2.73431050e-03 1.03943363e-04 9.99996256e-01 6.27484995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871652532 meters 0.15516884899502084 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99995244e-01 -1.33833726e-03 2.77865537e-03 -4.76824122e+00] [ 1.34052675e-03 9.99998792e-01 -7.86252466e-04 -5.92148276e+00] [-2.77759974e-03 7.89973589e-04 9.99995830e-01 6.26533386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901652532 meters 0.16016704766843537 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99995643e-01 -1.05028113e-03 2.75878500e-03 -4.76869055e+00] [ 1.05100312e-03 9.99999414e-01 -2.60266583e-04 -5.92259479e+00] [-2.75851003e-03 2.63164940e-04 9.99996161e-01 6.27391267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93165253200002 meters 0.15101325497561127 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99995483e-01 -1.06680176e-03 2.81007527e-03 -4.76880477e+00] [ 1.06772079e-03 9.99999377e-01 -3.25568269e-04 -5.92244613e+00] [-2.80972620e-03 3.28567174e-04 9.99995999e-01 6.27392178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96165253200002 meters 0.15166277385098054 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99994752e-01 -1.00747643e-03 3.07923555e-03 -4.76963241e+00] [ 1.00892515e-03 9.99999381e-01 -4.68962204e-04 -5.92151029e+00] [-3.07876117e-03 4.72066461e-04 9.99995149e-01 6.27640646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99165253200002 meters 0.15456227792618388 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99994686e-01 -9.03115369e-04 3.13257391e-03 -4.77035593e+00] [ 9.04117944e-04 9.99999541e-01 -3.18646913e-04 -5.92101790e+00] [-3.13228470e-03 3.21477436e-04 9.99995043e-01 6.28660380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.021652532 meters 0.1537746460275246 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99994037e-01 -9.75682140e-04 3.31271899e-03 -4.77082766e+00] [ 9.77797637e-04 9.99999319e-01 -6.37038994e-04 -5.91967647e+00] [-3.31209519e-03 6.40274364e-04 9.99994310e-01 6.28644639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.051652532 meters 0.1554834730057668 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.92, Z:0.63 [[ 9.99991119e-01 -7.42588362e-04 4.14854848e-03 -4.77306288e+00] [ 7.47710042e-04 9.99998960e-01 -1.23315710e-03 -5.91615837e+00] [-4.14762844e-03 1.23624806e-03 9.99990634e-01 6.28971478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081652532 meters 0.15707057494106905 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.91, Z:0.63 [[ 9.99989563e-01 -7.89213880e-04 4.50001131e-03 -4.77381656e+00] [ 7.96708551e-04 9.99998298e-01 -1.66392917e-03 -5.91454314e+00] [-4.49869046e-03 1.66749700e-03 9.99988491e-01 6.28729066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.111652532 meters 0.17190071537498466 Centerline is valid? [False, False] Translation: X:-4.77, Y:-5.91, Z:0.63 [[ 9.99987713e-01 -6.71330286e-04 4.91160117e-03 -4.77490823e+00] [ 6.80472083e-04 9.99998039e-01 -1.85983190e-03 -5.91336756e+00] [-4.91034297e-03 1.86315125e-03 9.99986209e-01 6.28821596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141652532 meters 0.1749845679587117 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99986753e-01 -5.91205596e-04 5.11312138e-03 -4.77556512e+00] [ 6.00599167e-04 9.99998135e-01 -1.83580965e-03 -5.91316854e+00] [-5.11202650e-03 1.83885626e-03 9.99985243e-01 6.29110392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171652532 meters 0.1681122081186283 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99988525e-01 -4.65552988e-04 4.76798059e-03 -4.77508205e+00] [ 4.71762956e-04 9.99999042e-01 -1.30138960e-03 -5.91497382e+00] [-4.76737015e-03 1.30362403e-03 9.99987786e-01 6.29820973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201652532 meters 0.1675931462594252 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99987252e-01 -3.06498865e-04 5.03999487e-03 -4.77610950e+00] [ 3.12959164e-04 9.99999130e-01 -1.28106811e-03 -5.91431232e+00] [-5.03959784e-03 1.28262910e-03 9.99986479e-01 6.30398419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231652532 meters 0.17528067327262778 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99984324e-01 -1.84967872e-04 5.59619779e-03 -4.77760288e+00] [ 1.93933363e-04 9.99998699e-01 -1.60156805e-03 -5.91235656e+00] [-5.59589427e-03 1.60262823e-03 9.99983059e-01 6.30534045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261652532 meters 0.17101471258846448 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99982895e-01 -2.55187052e-04 5.84338666e-03 -4.77807397e+00] [ 2.66326203e-04 9.99998149e-01 -1.90558466e-03 -5.91126658e+00] [-5.84288957e-03 1.90710831e-03 9.99981112e-01 6.30252981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291652532 meters 0.1652660248893835 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99985024e-01 -1.47646375e-05 5.47273310e-03 -4.77772204e+00] [ 2.05383846e-05 9.99999443e-01 -1.05494779e-03 -5.91372053e+00] [-5.47271447e-03 1.05504439e-03 9.99984468e-01 6.31350774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321652532 meters 0.16586282763665341 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99985907e-01 6.14206245e-05 5.30860187e-03 -4.77752044e+00] [-5.72218912e-05 9.99999685e-01 -7.91078412e-04 -5.91447907e+00] [-5.30864879e-03 7.90763495e-04 9.99985596e-01 6.31722485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351652532 meters 0.1655128093931503 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.92, Z:0.63 [[ 9.99985958e-01 3.33455096e-04 5.28886080e-03 -4.77798092e+00] [-3.31794661e-04 9.99999895e-01 -3.14823851e-04 -5.91543927e+00] [-5.28896522e-03 3.13064615e-04 9.99985964e-01 6.32602301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381652532 meters 0.16379594926819302 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.92, Z:0.63 [[ 9.99986635e-01 3.49330249e-04 5.15817961e-03 -4.77772359e+00] [-3.48414284e-04 9.99999923e-01 -1.78472835e-04 -5.91594270e+00] [-5.15824156e-03 1.76673266e-04 9.99986681e-01 6.32757280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411652532 meters 0.1691974566970262 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99981554e-01 7.29902346e-04 6.02977084e-03 -4.78037242e+00] [-7.27110404e-04 9.99999627e-01 -4.65205503e-04 -5.91242771e+00] [-6.03010815e-03 4.60812613e-04 9.99981713e-01 6.33527667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441652532 meters 0.16724397676637065 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99978643e-01 6.27682175e-04 6.50527190e-03 -4.78143235e+00] [-6.20479794e-04 9.99999192e-01 -1.10911982e-03 -5.90978546e+00] [-6.50596282e-03 1.10505974e-03 9.99978225e-01 6.33348553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471652532 meters 0.16405245291257758 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.63 [[ 9.99978175e-01 7.70521814e-04 6.56171140e-03 -4.78213485e+00] [-7.64326953e-04 9.99999260e-01 -9.46547566e-04 -5.90948466e+00] [-6.56243588e-03 9.41511614e-04 9.99978024e-01 6.34297886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501652532 meters 0.16513474550961124 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.64 [[ 9.99976819e-01 9.86970856e-04 6.73699519e-03 -4.78309295e+00] [-9.81965457e-04 9.99999239e-01 -7.46239412e-04 -5.90931713e+00] [-6.73772659e-03 7.39606617e-04 9.99977028e-01 6.35153374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531652532 meters 0.16240624718087543 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.64 [[ 9.99975886e-01 1.09620409e-03 6.85755059e-03 -4.78371055e+00] [-1.09124321e-03 9.99999140e-01 -7.27117656e-04 -5.90897035e+00] [-6.85834177e-03 7.19616867e-04 9.99976222e-01 6.35689512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561652532 meters 0.1671888337844671 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.64 [[ 9.99975064e-01 1.01446557e-03 6.98875547e-03 -4.78404131e+00] [-1.00718648e-03 9.99998947e-01 -1.04498350e-03 -5.90779978e+00] [-6.98980821e-03 1.03791847e-03 9.99975032e-01 6.35662503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591652532 meters 0.1671888337844671 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.64 [[ 9.99975064e-01 1.01446557e-03 6.98875547e-03 -4.78404131e+00] [-1.00718648e-03 9.99998947e-01 -1.04498350e-03 -5.90779978e+00] [-6.98980821e-03 1.03791847e-03 9.99975032e-01 6.35662503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621652532 meters 0.17121739424051477 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.91, Z:0.64 [[ 9.99974250e-01 1.22756027e-03 7.07047173e-03 -4.78477304e+00] [-1.22239910e-03 9.99998983e-01 -7.34235535e-04 -5.90816399e+00] [-7.07136586e-03 7.25573690e-04 9.99974734e-01 6.36586594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651652532 meters 0.1675572525437237 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.91, Z:0.64 [[ 9.99974231e-01 1.25865666e-03 7.06771492e-03 -4.78500728e+00] [-1.25349180e-03 9.99998944e-01 -7.35150405e-04 -5.90775581e+00] [-7.06863276e-03 7.26272138e-04 9.99974753e-01 6.36931768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68165253200002 meters 0.1816879064425944 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.64 [[ 9.99961215e-01 5.06049123e-03 7.20834730e-03 -4.78495459e+00] [-5.07841070e-03 9.99984055e-01 2.46980245e-03 -5.90404397e+00] [-7.19573395e-03 -2.50631360e-03 9.99970969e-01 6.36190106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71165253200002 meters 0.1655448811223972 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.64 [[ 9.99962350e-01 4.71439629e-03 7.28507131e-03 -4.78461405e+00] [-4.72748977e-03 9.99987239e-01 1.78113004e-03 -5.90243094e+00] [-7.27658139e-03 -1.81550308e-03 9.99971877e-01 6.35249368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74165253200002 meters 0.1624385781544001 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99963991e-01 4.39202868e-03 7.26134292e-03 -4.78412604e+00] [-4.40088410e-03 9.99989591e-01 1.20400111e-03 -5.90119046e+00] [-7.25597933e-03 -1.23591408e-03 9.99972911e-01 6.34497782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.771652532 meters 0.1744106248525782 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99964720e-01 4.23737793e-03 7.25275292e-03 -4.78392130e+00] [-4.24402338e-03 9.99990588e-01 9.01120984e-04 -5.90050621e+00] [-7.24886627e-03 -9.31870046e-04 9.99973292e-01 6.34176245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801652532 meters 0.17245754860475532 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99964155e-01 4.39298983e-03 7.23818276e-03 -4.78429336e+00] [-4.40145860e-03 9.99989647e-01 1.15449914e-03 -5.90086147e+00] [-7.23303612e-03 -1.18631632e-03 9.99973138e-01 6.34879708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.831652532 meters 0.16747039719283738 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99966155e-01 4.13479913e-03 7.11286237e-03 -4.78361178e+00] [-4.14042388e-03 9.99991127e-01 7.76242155e-04 -5.90024633e+00] [-7.10958965e-03 -8.05666148e-04 9.99974402e-01 6.34234891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861652532 meters 0.16722579869039805 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99963920e-01 3.74505470e-03 7.62447841e-03 -4.78424622e+00] [-3.74075988e-03 9.99992837e-01 -5.77477224e-04 -5.89590416e+00] [-7.62658648e-03 5.48935046e-04 9.99970766e-01 6.32974247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.891652532 meters 0.1926920851195773 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99964334e-01 3.67777872e-03 7.60289971e-03 -4.78410675e+00] [-3.67280784e-03 9.99993032e-01 -6.67672760e-04 -5.89589554e+00] [-7.60530229e-03 6.39724957e-04 9.99970875e-01 6.32881045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921652532 meters 0.18217389603110712 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99967111e-01 3.76137792e-03 7.18534601e-03 -4.78328546e+00] [-3.76031073e-03 9.99992917e-01 -1.62026920e-04 -5.89776848e+00] [-7.18590456e-03 1.35002457e-04 9.99974172e-01 6.33282132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951652532 meters 0.18011859747127176 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99968733e-01 3.56809281e-03 7.05710044e-03 -4.78263075e+00] [-3.56524433e-03 9.99993558e-01 -4.16172489e-04 -5.89748967e+00] [-7.05853992e-03 3.90999189e-04 9.99975012e-01 6.32722700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981652532 meters 0.18101350918353937 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.90, Z:0.63 [[ 9.99968435e-01 3.31768257e-03 7.21952289e-03 -4.78271629e+00] [-3.31044832e-03 9.99994007e-01 -1.01376028e-03 -5.89568306e+00] [-7.22284296e-03 9.89828423e-04 9.99973425e-01 6.32101561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011652532 meters 0.1832590642867579 Centerline is valid? [False, False] Translation: X:-4.78, Y:-5.89, Z:0.63 [[ 9.99966731e-01 2.95385790e-03 7.60345614e-03 -4.78315117e+00] [-2.93851332e-03 9.99993625e-01 -2.02848832e-03 -5.89253245e+00] [-7.60939954e-03 2.00607798e-03 9.99969036e-01 6.31136396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041652532 meters 0.18286244030582427 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99961962e-01 3.34820665e-03 8.05380307e-03 -4.78514657e+00] [-3.33456316e-03 9.99992984e-01 -1.70687499e-03 -5.89182224e+00] [-8.05946153e-03 1.67995414e-03 9.99966111e-01 6.32545864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071652532 meters 0.17111333044475902 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99962698e-01 3.51613761e-03 7.88919612e-03 -4.78507948e+00] [-3.50602199e-03 9.99993014e-01 -1.29567672e-03 -5.89288828e+00] [-7.89369679e-03 1.26796870e-03 9.99968040e-01 6.33142382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101652532 meters 0.17818325474336355 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99959645e-01 3.38364465e-03 8.32226564e-03 -4.78595796e+00] [-3.36683001e-03 9.99992264e-01 -2.03362133e-03 -5.89020690e+00] [-8.32908231e-03 2.00551961e-03 9.99963301e-01 6.32734501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131652532 meters 0.18615560509496404 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99953574e-01 3.53391364e-03 8.96447742e-03 -4.78775442e+00] [-3.51219069e-03 9.99990861e-01 -2.43781194e-03 -5.88764514e+00] [-8.97301051e-03 2.40621381e-03 9.99956847e-01 6.33075041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161652532 meters 0.18100680754613258 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99951172e-01 3.46456308e-03 9.25480033e-03 -4.78849725e+00] [-3.43895951e-03 9.99990220e-01 -2.78099967e-03 -5.88620776e+00] [-9.26434477e-03 2.74903700e-03 9.99953306e-01 6.33078130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191652532 meters 0.1816793964085495 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.63 [[ 9.99952041e-01 3.23398108e-03 9.24434287e-03 -4.78818088e+00] [-3.20482965e-03 9.99989851e-01 -3.16651139e-03 -5.88526151e+00] [-9.25448949e-03 3.13673299e-03 9.99952257e-01 6.32566056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221652532 meters 0.1704760981068935 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.63 [[ 9.99948520e-01 3.17063884e-03 9.63867969e-03 -4.78907461e+00] [-3.13559475e-03 9.99988427e-01 -3.64871699e-03 -5.88326508e+00] [-9.65013691e-03 3.61830616e-03 9.99946890e-01 6.32335111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251652532 meters 0.19088074617761394 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.63 [[ 9.99949014e-01 3.16188213e-03 9.59020650e-03 -4.78891107e+00] [-3.12758941e-03 9.99988670e-01 -3.58869888e-03 -5.88348762e+00] [-9.60144488e-03 3.55852167e-03 9.99947573e-01 6.32267975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281652532 meters 0.18562437535372947 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.63 [[ 9.99949623e-01 2.80742297e-03 9.63694867e-03 -4.78847631e+00] [-2.76648300e-03 9.99987104e-01 -4.25893511e-03 -5.88194118e+00] [-9.64878102e-03 4.23206010e-03 9.99944494e-01 6.31286518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311652532 meters 0.1790464459777137 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.89, Z:0.64 [[ 9.99966744e-01 5.22937906e-03 -6.25815918e-03 -4.78708996e+00] [-5.22631764e-03 9.99986215e-01 5.05441925e-04 -5.88509049e+00] [ 6.26071606e-03 -4.72717989e-04 9.99980290e-01 6.39043203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341652532 meters 0.17623958616052057 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99968002e-01 4.86697077e-03 -6.34880050e-03 -4.78640800e+00] [-4.86688825e-03 9.99988156e-01 2.84476552e-05 -5.88419749e+00] [ 6.34886376e-03 2.45215763e-06 9.99979846e-01 6.38270855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371652532 meters 0.16992576778219845 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99967855e-01 4.76680947e-03 -6.44720295e-03 -4.78612218e+00] [-4.76744313e-03 9.99988632e-01 -8.29191943e-05 -5.88402200e+00] [ 6.44673440e-03 1.13653202e-04 9.99979213e-01 6.38152373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401652532 meters 0.18045050437445437 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99969975e-01 4.66633184e-03 -6.18655717e-03 -4.78667034e+00] [-4.66939776e-03 9.99988983e-01 -4.81226643e-04 -5.88253523e+00] [ 6.18424345e-03 5.10099691e-04 9.99980747e-01 6.37872662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43165253200002 meters 0.1696817441588331 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99973134e-01 4.47767247e-03 -5.80359542e-03 -4.78735211e+00] [-4.48425568e-03 9.99989316e-01 -1.12181686e-03 -5.88033091e+00] [ 5.79851029e-03 1.14781153e-03 9.99982530e-01 6.37335573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46165253200002 meters 0.1763793119284967 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99975682e-01 4.27415505e-03 -5.51059083e-03 -4.78774400e+00] [-4.28308953e-03 9.99989531e-01 -1.61054846e-03 -5.87894819e+00] [ 5.50364941e-03 1.63411165e-03 9.99983520e-01 6.36791574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49165253200002 meters 0.1848666221399117 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99984437e-01 2.72992903e-04 -5.57227448e-03 -4.78800617e+00] [-3.01968206e-04 9.99986436e-01 -5.19972711e-03 -5.88086672e+00] [ 5.57077941e-03 5.20132884e-03 9.99970956e-01 6.37457297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.521652532 meters 0.16995373306141523 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99985332e-01 3.94923660e-04 -5.40175588e-03 -4.78857561e+00] [-4.22581322e-04 9.99986804e-01 -5.11994159e-03 -5.88078322e+00] [ 5.39966261e-03 5.12214918e-03 9.99972303e-01 6.37650141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.551652532 meters 0.19703529324044822 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99987611e-01 5.79636096e-04 -4.94379640e-03 -4.78989037e+00] [-6.05240046e-04 9.99986405e-01 -5.17908306e-03 -5.87982952e+00] [ 4.94072721e-03 5.18201108e-03 9.99974368e-01 6.37866237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581652532 meters 0.17316347432073687 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99989703e-01 6.98916821e-04 -4.48392115e-03 -4.79116367e+00] [-7.22489163e-04 9.99985918e-01 -5.25761808e-03 -5.87889893e+00] [ 4.48018337e-03 5.26080352e-03 9.99976126e-01 6.38004801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.611652532 meters 0.17172783310771936 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99987307e-01 9.36782756e-04 -4.95067887e-03 -4.79054847e+00] [-9.58316731e-04 9.99990083e-01 -4.34912079e-03 -5.88171944e+00] [ 4.94655559e-03 4.35380990e-03 9.99978288e-01 6.38955471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641652532 meters 0.18908103476437432 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99987046e-01 1.14518908e-03 -4.95951961e-03 -4.79086494e+00] [-1.16495078e-03 9.99991387e-01 -3.98354471e-03 -5.88240674e+00] [ 4.95491498e-03 3.98927071e-03 9.99979767e-01 6.39471579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671652532 meters 0.18842169175709264 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99989222e-01 1.23645512e-03 -4.47508112e-03 -4.79219319e+00] [-1.25550257e-03 9.99990155e-01 -4.25603270e-03 -5.88073296e+00] [ 4.46977466e-03 4.26160530e-03 9.99980930e-01 6.39564961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701652532 meters 0.18785730071948453 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99991925e-01 1.71218984e-03 -3.63566333e-03 -4.79484746e+00] [-1.72754620e-03 9.99989583e-01 -4.22488133e-03 -5.87862782e+00] [ 3.62839166e-03 4.23112799e-03 9.99984466e-01 6.40416245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731652532 meters 0.18965941099081893 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.88, Z:0.64 [[ 9.99989853e-01 1.97746813e-03 -4.04756083e-03 -4.79444314e+00] [-1.99083347e-03 9.99992571e-01 -3.30071218e-03 -5.88140876e+00] [ 4.04100371e-03 3.30873671e-03 9.99986361e-01 6.41562888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761652532 meters 0.16875767104158682 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99989594e-01 2.25193957e-03 -3.96738527e-03 -4.79508219e+00] [-2.26351772e-03 9.99993186e-01 -2.91626431e-03 -5.88209268e+00] [ 3.96079099e-03 2.92521421e-03 9.99987878e-01 6.42279475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791652532 meters 0.18233118155002898 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99990444e-01 2.48827703e-03 -3.59463251e-03 -4.79632011e+00] [-2.49853324e-03 9.99992813e-01 -2.85153538e-03 -5.88152827e+00] [ 3.58751126e-03 2.86048944e-03 9.99989474e-01 6.42763907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821652532 meters 0.18436891915983558 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99992094e-01 2.62113497e-03 -2.99025211e-03 -4.79791850e+00] [-2.63056728e-03 9.99991564e-01 -3.15479441e-03 -5.87967094e+00] [ 2.98195775e-03 3.16263552e-03 9.99990553e-01 6.42980480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851652532 meters 0.1780578209109925 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99991192e-01 3.03191902e-03 -2.90229564e-03 -4.79897841e+00] [-3.03908524e-03 9.99992337e-01 -2.46793984e-03 -5.88077435e+00] [ 2.89479080e-03 2.47673842e-03 9.99992743e-01 6.44398586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881652532 meters 0.1893113110823139 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99991279e-01 3.13626137e-03 -2.75781408e-03 -4.79958068e+00] [-3.14283942e-03 9.99992219e-01 -2.38415106e-03 -5.88056877e+00] [ 2.75031530e-03 2.39279763e-03 9.99993355e-01 6.44752929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911652532 meters 0.17748180341309988 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.65 [[ 9.99990413e-01 3.36670429e-03 -2.79994093e-03 -4.79980980e+00] [-3.37208789e-03 9.99992471e-01 -1.92026092e-03 -5.88182311e+00] [ 2.79345489e-03 1.92968416e-03 9.99994236e-01 6.45359170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941652532 meters 0.1799808617028507 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.65 [[ 9.99991163e-01 3.43923827e-03 -2.41788415e-03 -4.80076023e+00] [-3.44427190e-03 9.99991904e-01 -2.08076245e-03 -5.88083585e+00] [ 2.41070833e-03 2.08907192e-03 9.99994912e-01 6.45399798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971652532 meters 0.17834815053629774 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.65 [[ 9.99991362e-01 3.33813834e-03 -2.47658575e-03 -4.80048590e+00] [-3.34352606e-03 9.99992046e-01 -2.17452352e-03 -5.88073445e+00] [ 2.46930719e-03 2.18278526e-03 9.99994569e-01 6.45195155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001652532 meters 0.21001256558979853 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.65 [[ 9.99991364e-01 3.37001858e-03 -2.43190100e-03 -4.80057398e+00] [-3.37508933e-03 9.99992133e-01 -2.08401242e-03 -5.88112810e+00] [ 2.42485870e-03 2.09220230e-03 9.99994871e-01 6.45188573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031652532 meters 0.1768581593178849 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.65 [[ 9.99989871e-01 3.40236721e-03 -2.94648721e-03 -4.79926913e+00] [-3.40663952e-03 9.99993152e-01 -1.44616544e-03 -5.88442339e+00] [ 2.94154665e-03 1.45618841e-03 9.99994613e-01 6.45156523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061652532 meters 0.17503394943265516 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99990311e-01 3.28082192e-03 -2.93498949e-03 -4.79900898e+00] [-3.28560495e-03 9.99993280e-01 -1.62632216e-03 -5.88422114e+00] [ 2.92963410e-03 1.63594962e-03 9.99994370e-01 6.44712378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091652532 meters 0.16937306993309045 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99991349e-01 3.17318887e-03 -2.68949624e-03 -4.79937666e+00] [-3.17855822e-03 9.99992959e-01 -1.99449683e-03 -5.88309011e+00] [ 2.68314839e-03 2.00302829e-03 9.99994394e-01 6.44306467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121652532 meters 0.1807350213775763 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.88, Z:0.64 [[ 9.99991154e-01 3.16706809e-03 -2.76803798e-03 -4.79903779e+00] [-3.17212437e-03 9.99993305e-01 -1.82419065e-03 -5.88412228e+00] [ 2.76224212e-03 1.83295508e-03 9.99994505e-01 6.44152405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151652532 meters 0.17505300467111767 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.64 [[ 9.99989942e-01 3.54947662e-03 -2.74173318e-03 -4.79956393e+00] [-3.55257489e-03 9.99993056e-01 -1.12599950e-03 -5.88597387e+00] [ 2.73771743e-03 1.13572839e-03 9.99995608e-01 6.44958241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18165253200002 meters 0.17705761392777794 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.65 [[ 9.99988501e-01 3.72826057e-03 -3.01642996e-03 -4.79900156e+00] [-3.72952685e-03 9.99992959e-01 -4.14278973e-04 -5.88877877e+00] [ 3.01486418e-03 4.25524065e-04 9.99995365e-01 6.45263857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21165253200002 meters 0.16860863102106458 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.64 [[ 9.99988408e-01 3.71878290e-03 -3.05839476e-03 -4.79858506e+00] [-3.71968377e-03 9.99993040e-01 -2.88921511e-04 -5.88981403e+00] [ 3.05729904e-03 3.00294424e-04 9.99995281e-01 6.44803924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24165253200002 meters 0.18424768160371705 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.64 [[ 9.99987777e-01 3.81796482e-03 -3.14151641e-03 -4.79834244e+00] [-3.81759662e-03 9.99992705e-01 1.23192120e-04 -5.89152696e+00] [ 3.14196384e-03 -1.11197571e-04 9.99995058e-01 6.44841851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.271652532 meters 0.1748174834656074 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.64 [[ 9.99987287e-01 3.69340525e-03 -3.43272813e-03 -4.79733011e+00] [-3.69240743e-03 9.99993139e-01 2.96970836e-04 -5.89288002e+00] [ 3.43380141e-03 -2.84292030e-04 9.99994064e-01 6.44404229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301652532 meters 0.16741223837356983 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.89, Z:0.65 [[ 9.99996484e-01 4.18736746e-05 -2.65152427e-03 -4.79981807e+00] [-5.10408223e-05 9.99994022e-01 -3.45733909e-03 -5.89290222e+00] [ 2.65136365e-03 3.45746227e-03 9.99990508e-01 6.45297102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331652532 meters 0.16990260545452998 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.90, Z:0.65 [[ 9.99995868e-01 5.29585995e-04 -2.82555225e-03 -4.79992619e+00] [-5.36202788e-04 9.99997115e-01 -2.34152650e-03 -5.89630283e+00] [ 2.82430405e-03 2.34303189e-03 9.99993267e-01 6.46288783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361652532 meters 0.17169872175919168 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.90, Z:0.65 [[ 9.99995374e-01 7.11088430e-04 -2.95750739e-03 -4.79961556e+00] [-7.16456252e-04 9.99998097e-01 -1.81431871e-03 -5.89842270e+00] [ 2.95621162e-03 1.81642924e-03 9.99993981e-01 6.46398778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391652532 meters 0.17133591545587654 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.90, Z:0.65 [[ 9.99994008e-01 9.73301906e-04 -3.32219646e-03 -4.79884609e+00] [-9.76008293e-04 9.99999193e-01 -8.13113897e-04 -5.90239570e+00] [ 3.32140238e-03 8.16351516e-04 9.99994151e-01 6.46724066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421652532 meters 0.16660076437142002 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.90, Z:0.65 [[ 9.99993717e-01 1.13828762e-03 -3.35699105e-03 -4.79871362e+00] [-1.13942951e-03 9.99999294e-01 -3.38258512e-04 -5.90430025e+00] [ 3.35660364e-03 3.42081441e-04 9.99994308e-01 6.46731764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451652532 meters 0.16660076437142002 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.90, Z:0.65 [[ 9.99993717e-01 1.13828762e-03 -3.35699105e-03 -4.79871362e+00] [-1.13942951e-03 9.99999294e-01 -3.38258512e-04 -5.90430025e+00] [ 3.35660364e-03 3.42081441e-04 9.99994308e-01 6.46731764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481652532 meters 0.16469481847557071 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99992367e-01 1.17906915e-03 -3.72497123e-03 -4.79776209e+00] [-1.17804004e-03 9.99999267e-01 2.78455438e-04 -5.90701406e+00] [ 3.72529682e-03 -2.74065147e-04 9.99993024e-01 6.46703091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511652532 meters 0.1678955278939009 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99990141e-01 1.10341400e-03 -4.30131338e-03 -4.79597015e+00] [-1.09938018e-03 9.99998954e-01 9.40061519e-04 -5.91105269e+00] [ 4.30234616e-03 -9.35323472e-04 9.99990307e-01 6.46240668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541652532 meters 0.16230745043713016 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99988941e-01 1.42202600e-03 -4.48285362e-03 -4.79584464e+00] [-1.41376107e-03 9.99997296e-01 1.84630517e-03 -5.91408778e+00] [ 4.48546699e-03 -1.83994707e-03 9.99988248e-01 6.46923711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571652532 meters 0.16185018323583825 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99985902e-01 1.16295129e-03 -5.18110040e-03 -4.79368918e+00] [-1.15083225e-03 9.99996597e-01 2.34145476e-03 -5.91794718e+00] [ 5.18380576e-03 -2.33545917e-03 9.99983837e-01 6.46296885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601652532 meters 0.15909195062720935 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99984101e-01 1.00732030e-03 -5.54819733e-03 -4.79232938e+00] [-9.92595714e-04 9.99995980e-01 2.65605422e-03 -5.92033837e+00] [ 5.55085053e-03 -2.65050487e-03 9.99981081e-01 6.45608173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631652532 meters 0.16178667386846177 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99984784e-01 9.26957265e-04 -5.43810975e-03 -4.79234512e+00] [-9.13462640e-04 9.99996499e-01 2.48345106e-03 -5.92007092e+00] [ 5.44039277e-03 -2.47844576e-03 9.99982130e-01 6.45197470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661652532 meters 0.1598232189917263 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99985428e-01 1.01881396e-03 -5.30151913e-03 -4.79269664e+00] [-1.00507975e-03 9.99996134e-01 2.59263620e-03 -5.92041619e+00] [ 5.30414005e-03 -2.58726997e-03 9.99982586e-01 6.45256288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691652532 meters 0.16201192679591675 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99985743e-01 1.12041448e-03 -5.22092436e-03 -4.79290742e+00] [-1.10607549e-03 9.99995611e-01 2.74852479e-03 -5.92099095e+00] [ 5.22398093e-03 -2.74271087e-03 9.99982594e-01 6.45328059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721652532 meters 0.15120552349111102 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.92, Z:0.65 [[ 9.99984088e-01 1.18316744e-03 -5.51582438e-03 -4.79196394e+00] [-1.16501839e-03 9.99993901e-01 3.29241203e-03 -5.92403867e+00] [ 5.51968622e-03 -3.28593361e-03 9.99979368e-01 6.45122082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751652532 meters 0.15208030988752716 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99983356e-01 1.27455879e-03 -5.62698707e-03 -4.79162458e+00] [-1.25413712e-03 9.99992620e-01 3.63127601e-03 -5.92558092e+00] [ 5.63157382e-03 -3.62415855e-03 9.99977575e-01 6.45110545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781652532 meters 0.16596874452428811 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99982863e-01 -2.63331599e-03 -5.22876938e-03 -4.79285202e+00] [ 2.63234582e-03 9.99996517e-01 -1.92416933e-04 -5.92677378e+00] [ 5.22925786e-03 1.78649706e-04 9.99986311e-01 6.45536508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811652532 meters 0.16334462952870815 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99983193e-01 -2.33824837e-03 -5.30529073e-03 -4.79294165e+00] [ 2.34103916e-03 9.99997125e-01 5.19889798e-04 -5.92902561e+00] [ 5.30405985e-03 -5.32300954e-04 9.99985792e-01 6.46086619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841652532 meters 0.14677041250987477 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99982946e-01 -2.20195147e-03 -5.40912561e-03 -4.79276543e+00] [ 2.20714199e-03 9.99997109e-01 9.53803798e-04 -5.93055016e+00] [ 5.40700975e-03 -9.65726240e-04 9.99984916e-01 6.46226843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871652532 meters 0.1597404156109265 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99983861e-01 -1.97027208e-03 -5.32875250e-03 -4.79318076e+00] [ 1.97751280e-03 9.99997128e-01 1.35387510e-03 -5.93159992e+00] [ 5.32606970e-03 -1.36439092e-03 9.99984886e-01 6.46600538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901652532 meters 0.15857974773019276 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99984796e-01 -1.59082471e-03 -5.27992894e-03 -4.79357559e+00] [ 1.60216268e-03 9.99996419e-01 2.14383591e-03 -5.93412057e+00] [ 5.27649957e-03 -2.15226262e-03 9.99983763e-01 6.47140595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93165253200002 meters 0.15787661649492654 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99983016e-01 -1.56209947e-03 -5.61499489e-03 -4.79269566e+00] [ 1.57697626e-03 9.99995256e-01 2.64602455e-03 -5.93647878e+00] [ 5.61083490e-03 -2.65483432e-03 9.99980735e-01 6.47112383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96165253200002 meters 0.16385891797086508 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99982893e-01 -1.48446899e-03 -5.65781348e-03 -4.79251828e+00] [ 1.50092829e-03 9.99994651e-01 2.90599180e-03 -5.93765623e+00] [ 5.65346936e-03 -2.91443406e-03 9.99979772e-01 6.47057374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99165253200002 meters 0.15707333163007364 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99979098e-01 -1.88800240e-03 -6.18369891e-03 -4.79051976e+00] [ 1.90583686e-03 9.99994038e-01 2.87948626e-03 -5.93939494e+00] [ 6.17822557e-03 -2.89121119e-03 9.99976735e-01 6.45938394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.021652532 meters 0.14879055785719808 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99979136e-01 -1.66930691e-03 -6.24022972e-03 -4.79062984e+00] [ 1.69046412e-03 9.99992836e-01 3.38671826e-03 -5.94089721e+00] [ 6.23453154e-03 -3.39719648e-03 9.99974795e-01 6.46405516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.051652532 meters 0.14643735530938085 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99978785e-01 -1.60596653e-03 -6.31270756e-03 -4.79052883e+00] [ 1.62873564e-03 9.99992181e-01 3.60338421e-03 -5.94169318e+00] [ 6.30687129e-03 -3.61358950e-03 9.99973582e-01 6.46598843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081652532 meters 0.15308166641045973 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99974870e-01 2.73425640e-03 -6.54083858e-03 -4.78995377e+00] [-2.68088645e-03 9.99963159e-01 8.15439569e-03 -5.94294040e+00] [ 6.56289382e-03 -8.13665553e-03 9.99945360e-01 6.46677428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.111652532 meters 0.15283850399119484 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99981139e-01 -1.69443199e-03 -5.90340971e-03 -4.79112397e+00] [ 1.71305191e-03 9.99993570e-01 3.15046972e-03 -5.94023790e+00] [ 5.89803350e-03 -3.16052315e-03 9.99977612e-01 6.46039981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141652532 meters 0.15101338773842984 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99980907e-01 -1.71173399e-03 -5.93771681e-03 -4.79101398e+00] [ 1.73071873e-03 9.99993403e-01 3.19364883e-03 -5.94051480e+00] [ 5.93221096e-03 -3.20386437e-03 9.99977272e-01 6.46044529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171652532 meters 0.15669512486027096 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99979033e-01 -1.77392463e-03 -6.22793792e-03 -4.79011948e+00] [ 1.79527719e-03 9.99992525e-01 3.42459644e-03 -5.94218764e+00] [ 6.22181639e-03 -3.43570551e-03 9.99974742e-01 6.45820188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201652532 meters 0.156916829172908 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.65 [[ 9.99979729e-01 -1.86631513e-03 -6.08753799e-03 -4.79024594e+00] [ 1.88544231e-03 9.99993300e-01 3.13779756e-03 -5.94144683e+00] [ 6.08164108e-03 -3.14921165e-03 9.99976548e-01 6.45444746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231652532 meters 0.15733171693211107 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.64 [[ 9.99980732e-01 -2.05745135e-03 -5.85687486e-03 -4.79054460e+00] [ 2.07240725e-03 9.99994605e-01 2.54863902e-03 -5.93952940e+00] [ 5.85159956e-03 -2.56072774e-03 9.99979601e-01 6.44941006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261652532 meters 0.161249647670726 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.64 [[ 9.99981222e-01 -2.13836579e-03 -5.74313278e-03 -4.79080534e+00] [ 2.15156116e-03 9.99995058e-01 2.29239576e-03 -5.93856286e+00] [ 5.73820241e-03 -2.30470941e-03 9.99980880e-01 6.44859493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291652532 meters 0.16148472081558823 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.64 [[ 9.99982279e-01 -2.17102292e-03 -5.54336926e-03 -4.79133424e+00] [ 2.18230713e-03 9.99995558e-01 2.03038633e-03 -5.93743676e+00] [ 5.53893662e-03 -2.04244769e-03 9.99982574e-01 6.44849640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321652532 meters 0.1601542436086572 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.94, Z:0.64 [[ 9.99983908e-01 -2.22567309e-03 -5.21829150e-03 -4.79221659e+00] [ 2.23362263e-03 9.99996353e-01 1.51806578e-03 -5.93521948e+00] [ 5.21489375e-03 -1.52969705e-03 9.99985232e-01 6.44889673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351652532 meters 0.16093457753497023 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.64 [[ 9.99984306e-01 -2.29546091e-03 -5.11070301e-03 -4.79237705e+00] [ 2.30205239e-03 9.99996526e-01 1.28423203e-03 -5.93450339e+00] [ 5.10773734e-03 -1.29597698e-03 9.99986116e-01 6.44694696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381652532 meters 0.1623582308794213 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.64 [[ 9.99985373e-01 -2.31527042e-03 -4.88813794e-03 -4.79298877e+00] [ 2.32006162e-03 9.99996834e-01 9.74725471e-04 -5.93311459e+00] [ 4.88586570e-03 -9.86051994e-04 9.99987578e-01 6.44710635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411652532 meters 0.1580356972986384 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.93, Z:0.65 [[ 9.99987598e-01 -2.21369008e-03 -4.46133283e-03 -4.79429228e+00] [ 2.21674190e-03 9.99997312e-01 6.79232237e-04 -5.93123159e+00] [ 4.45981723e-03 -6.89113437e-04 9.99989818e-01 6.45030551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441652532 meters 0.1666069342840562 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.65 [[ 9.99988738e-01 -2.08081068e-03 -4.26545652e-03 -4.79543117e+00] [ 2.08323434e-03 9.99997671e-01 5.63842476e-04 -5.92961661e+00] [ 4.26427334e-03 -5.72722071e-04 9.99990744e-01 6.46025445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471652532 meters 0.1617271996658113 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.65 [[ 9.99988666e-01 -2.24774155e-03 -4.19698146e-03 -4.79554307e+00] [ 2.24834437e-03 9.99997463e-01 1.38919242e-04 -5.92820439e+00] [ 4.19665856e-03 -1.48353927e-04 9.99991183e-01 6.45895200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501652532 meters 0.16583673760470372 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.65 [[ 9.99990848e-01 -1.97419028e-03 -3.79570225e-03 -4.79718443e+00] [ 1.97463984e-03 9.99998044e-01 1.14695243e-04 -5.92672036e+00] [ 3.79546839e-03 -1.22189339e-04 9.99992790e-01 6.46862857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531652532 meters 0.1755594486363996 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.65 [[ 9.99991001e-01 2.06934590e-03 -3.70354620e-03 -4.79740733e+00] [-2.05585144e-03 9.99991248e-01 3.64376443e-03 -5.92384821e+00] [ 3.71105400e-03 -3.63611769e-03 9.99986503e-01 6.46757944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561652532 meters 0.1605390081272686 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.65 [[ 9.99992363e-01 1.71482610e-03 -3.51183821e-03 -4.79753061e+00] [-1.70519143e-03 9.99994780e-01 2.74464432e-03 -5.92108550e+00] [ 3.51652647e-03 -2.73863501e-03 9.99990067e-01 6.46073041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591652532 meters 0.16606009730021723 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.65 [[ 9.99993680e-01 1.45882933e-03 -3.24212745e-03 -4.79798207e+00] [-1.45253802e-03 9.99997059e-01 1.94199645e-03 -5.91842686e+00] [ 3.24495096e-03 -1.93727486e-03 9.99992859e-01 6.45646340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621652532 meters 0.1743638110140522 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99995298e-01 1.30681192e-03 -2.77436750e-03 -4.79917609e+00] [-1.30415748e-03 9.99998690e-01 9.58366703e-04 -5.91462842e+00] [ 2.77561627e-03 -9.54743984e-04 9.99995692e-01 6.45590897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651652532 meters 0.17441277407993216 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99996480e-01 1.31877277e-03 -2.30239068e-03 -4.80050172e+00] [-1.31780331e-03 9.99999042e-01 4.22534271e-04 -5.91202109e+00] [ 2.30294570e-03 -4.19498685e-04 9.99997260e-01 6.45813275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68165253200002 meters 0.1800278182818264 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.91, Z:0.65 [[ 9.99997077e-01 1.53887101e-03 -1.86506257e-03 -4.80220940e+00] [-1.53830088e-03 9.99998770e-01 3.07084867e-04 -5.91018207e+00] [ 1.86553284e-03 -3.04214941e-04 9.99998214e-01 6.46729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71165253200002 meters 0.17843152832066164 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99997897e-01 1.87100424e-03 -8.40031387e-04 -4.80527543e+00] [-1.87138611e-03 9.99998146e-01 -4.54038917e-04 -5.90493706e+00] [ 8.39180321e-04 4.55609986e-04 9.99999544e-01 6.47693136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74165253200002 meters 0.1943166795993784 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998461e-01 1.62161824e-03 -6.70265953e-04 -4.80547638e+00] [-1.62233887e-03 9.99998105e-01 -1.07599178e-03 -5.90299150e+00] [ 6.68519835e-04 1.07707752e-03 9.99999196e-01 6.47270255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.771652532 meters 0.18348470120584962 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998402e-01 1.78026971e-03 -1.63187421e-04 -4.80728286e+00] [-1.78049868e-03 9.99997415e-01 -1.41384201e-03 -5.90023781e+00] [ 1.60669980e-04 1.41413031e-03 9.99998987e-01 6.48043090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801652532 meters 0.1690642931910339 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998759e-01 1.57033630e-03 1.28016501e-04 -4.80778509e+00] [-1.57006799e-03 9.99996625e-01 -2.06975669e-03 -5.89802930e+00] [-1.31266283e-04 2.06955313e-03 9.99997850e-01 6.47612250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831652532 meters 0.18885356215670993 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998723e-01 1.56102514e-03 3.41480543e-04 -4.80857834e+00] [-1.56023302e-03 9.99996120e-01 -2.30774653e-03 -5.89651599e+00] [-3.45081668e-04 2.30721080e-03 9.99997279e-01 6.47975243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861652532 meters 0.18753779619445843 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998601e-01 1.57765447e-03 5.56654567e-04 -4.80941692e+00] [-1.57624504e-03 9.99995574e-01 -2.52339013e-03 -5.89502961e+00] [-5.60633141e-04 2.52250918e-03 9.99996661e-01 6.48392451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891652532 meters 0.19430188471875715 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99983555e-01 5.70402102e-03 5.94595879e-04 -4.80943749e+00] [-5.70480621e-03 9.99982847e-01 1.32731316e-03 -5.89345407e+00] [-5.87014657e-04 -1.33068338e-03 9.99998942e-01 6.48353358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921652532 meters 0.18768312899522044 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99982788e-01 5.82856125e-03 6.72484954e-04 -4.80997805e+00] [-5.82951859e-03 9.99981985e-01 1.43051521e-03 -5.89320644e+00] [-6.64134994e-04 -1.43441085e-03 9.99998751e-01 6.48909846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951652532 meters 0.1901085366923362 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99983429e-01 5.71423910e-03 6.99388340e-04 -4.80999341e+00] [-5.71506856e-03 9.99982961e-01 1.18979448e-03 -5.89246106e+00] [-6.92577653e-04 -1.19377182e-03 9.99999048e-01 6.48829397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981652532 meters 0.18482883450518328 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99983327e-01 5.61512786e-03 1.34746910e-03 -4.81153263e+00] [-5.61547112e-03 9.99984202e-01 2.51095645e-04 -5.88871211e+00] [-1.34603788e-03 -2.58658132e-04 9.99999061e-01 6.48760100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011652532 meters 0.18607757529459856 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99984566e-01 5.35153416e-03 1.49290120e-03 -4.81164350e+00] [-5.35103405e-03 9.99985626e-01 -3.38779558e-04 -5.88691058e+00] [-1.49469273e-03 3.30785764e-04 9.99998828e-01 6.48293614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041652532 meters 0.18369258704533387 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99985546e-01 5.08601559e-03 1.74386134e-03 -4.81198568e+00] [-5.08418001e-03 9.99986519e-01 -1.05541779e-03 -5.88457724e+00] [-1.74920570e-03 1.04653643e-03 9.99997923e-01 6.47770235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071652532 meters 0.20973309341625243 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99985931e-01 4.94858271e-03 1.91008654e-03 -4.81237421e+00] [-4.94586743e-03 9.99986756e-01 -1.42366396e-03 -5.88316391e+00] [-1.91710637e-03 1.41419689e-03 9.99997162e-01 6.47706056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101652532 meters 0.2088937158443673 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99986352e-01 4.89124590e-03 1.83596431e-03 -4.81230536e+00] [-4.88840346e-03 9.99986851e-01 -1.54950804e-03 -5.88246061e+00] [-1.84351919e-03 1.54051195e-03 9.99997114e-01 6.47869999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131652532 meters 0.1811523668870383 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99986495e-01 4.79663426e-03 2.00071833e-03 -4.81259202e+00] [-4.79295066e-03 9.99986817e-01 -1.84188397e-03 -5.88154743e+00] [-2.00952680e-03 1.83226975e-03 9.99996302e-01 6.47671721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161652532 meters 0.20441110380592237 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99987040e-01 4.75083834e-03 1.83008066e-03 -4.81214842e+00] [-4.74758897e-03 9.99987153e-01 -1.77580435e-03 -5.88195571e+00] [-1.83849371e-03 1.76709286e-03 9.99996749e-01 6.47648651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191652532 meters 0.20186723102773943 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99987911e-01 4.47928629e-03 2.02827191e-03 -4.81252746e+00] [-4.47422691e-03 9.99986885e-01 -2.49213273e-03 -5.87930617e+00] [-2.03940829e-03 2.48302765e-03 9.99994838e-01 6.47381326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221652532 meters 0.17393137532417688 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99985032e-01 4.79573269e-03 2.63374088e-03 -4.81468631e+00] [-4.78897174e-03 9.99985237e-01 -2.56738392e-03 -5.87707476e+00] [-2.64601449e-03 2.55473258e-03 9.99993236e-01 6.48469306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251652532 meters 0.1700744681856629 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99985630e-01 4.72909620e-03 2.52504013e-03 -4.81442957e+00] [-4.72247443e-03 9.99985412e-01 -2.62199609e-03 -5.87698126e+00] [-2.53740297e-03 2.61003397e-03 9.99993375e-01 6.48493471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281652532 meters 0.20073611631765328 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99985725e-01 4.70347545e-03 2.53528830e-03 -4.81447732e+00] [-4.69650693e-03 9.99985197e-01 -2.74759081e-03 -5.87658196e+00] [-2.54817399e-03 2.73564459e-03 9.99993012e-01 6.48549780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311652532 meters 0.19211860352125223 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.88, Z:0.65 [[ 9.99984701e-01 4.80181961e-03 2.74592540e-03 -4.81534848e+00] [-4.79386736e-03 9.99984318e-01 -2.89530643e-03 -5.87530470e+00] [-2.75978507e-03 2.88209853e-03 9.99992039e-01 6.49038188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341652532 meters 0.19024424712328755 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985242e-01 4.64787714e-03 2.81293271e-03 -4.81541994e+00] [-4.63874848e-03 9.99983982e-01 -3.24311396e-03 -5.87413685e+00] [-2.82796124e-03 3.23001761e-03 9.99990785e-01 6.48811097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371652532 meters 0.19024424712328755 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985242e-01 4.64787714e-03 2.81293271e-03 -4.81541994e+00] [-4.63874848e-03 9.99983982e-01 -3.24311396e-03 -5.87413685e+00] [-2.82796124e-03 3.23001761e-03 9.99990785e-01 6.48811097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401652532 meters 0.19024424712328755 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985242e-01 4.64787714e-03 2.81293271e-03 -4.81541994e+00] [-4.63874848e-03 9.99983982e-01 -3.24311396e-03 -5.87413685e+00] [-2.82796124e-03 3.23001761e-03 9.99990785e-01 6.48811097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43165253200002 meters 0.19443843123952687 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985535e-01 4.55172111e-03 2.86560847e-03 -4.81546595e+00] [-4.54177198e-03 9.99983669e-01 -3.46889417e-03 -5.87340048e+00] [-2.88135111e-03 3.45582905e-03 9.99989877e-01 6.48618796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46165253200002 meters 0.19145710894268134 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985718e-01 4.52166360e-03 2.84918545e-03 -4.81543609e+00] [-4.51154721e-03 9.99983532e-01 -3.54710463e-03 -5.87301268e+00] [-2.86517734e-03 3.53419974e-03 9.99989650e-01 6.48571455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49165253200002 meters 0.18579975211096236 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985214e-01 4.61301079e-03 2.87973499e-03 -4.81570552e+00] [-4.60311476e-03 9.99983511e-01 -3.43365688e-03 -5.87303538e+00] [-2.89552700e-03 3.42035036e-03 9.99989959e-01 6.48847547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.521652532 meters 0.18866569497035426 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99985447e-01 4.51525521e-03 2.95275362e-03 -4.81575965e+00] [-4.50439636e-03 9.99983106e-01 -3.67389883e-03 -5.87231680e+00] [-2.96929232e-03 3.66054499e-03 9.99988892e-01 6.48592975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551652532 meters 0.18300421319098378 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99984642e-01 4.58522091e-03 3.11297731e-03 -4.81629263e+00] [-4.57377078e-03 9.99982786e-01 -3.67539864e-03 -5.87193024e+00] [-3.12977623e-03 3.66110415e-03 9.99988400e-01 6.48756466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581652532 meters 0.1852273134593631 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99984282e-01 4.55102427e-03 3.27477774e-03 -4.81667635e+00] [-4.53821371e-03 9.99982063e-01 -3.90874280e-03 -5.87095629e+00] [-3.29250778e-03 3.89381972e-03 9.99986999e-01 6.48662384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611652532 meters 0.17848597929442264 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983806e-01 4.65652581e-03 3.27189642e-03 -4.81689804e+00] [-4.64432955e-03 9.99982276e-01 -3.72534348e-03 -5.87125722e+00] [-3.28918558e-03 3.71008738e-03 9.99987708e-01 6.49032616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641652532 meters 0.1779571802592116 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983305e-01 4.76767528e-03 3.26487510e-03 -4.81703581e+00] [-4.75625162e-03 9.99982571e-01 -3.49782868e-03 -5.87180304e+00] [-3.28149471e-03 3.48224172e-03 9.99988553e-01 6.49281531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671652532 meters 0.1801471359823926 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983626e-01 4.75706853e-03 3.18092108e-03 -4.81678149e+00] [-4.74610553e-03 9.99982802e-01 -3.44519760e-03 -5.87206417e+00] [-3.19725542e-03 3.43004420e-03 9.99989006e-01 6.49156170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701652532 meters 0.1952590333333987 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983500e-01 4.63510223e-03 3.39358212e-03 -4.81696696e+00] [-4.62221234e-03 9.99982111e-01 -3.79635509e-03 -5.87102129e+00] [-3.41111790e-03 3.78060659e-03 9.99987036e-01 6.48483111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731652532 meters 0.18931228828477395 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983892e-01 4.60094499e-03 3.32360254e-03 -4.81665103e+00] [-4.58852620e-03 9.99982499e-01 -3.73455574e-03 -5.87147011e+00] [-3.34072686e-03 3.71924514e-03 9.99987503e-01 6.48213448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761652532 meters 0.1829235679960185 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99983171e-01 4.68864973e-03 3.41681306e-03 -4.81697032e+00] [-4.67628984e-03 9.99982527e-01 -3.61642958e-03 -5.87162212e+00] [-3.43370952e-03 3.60039071e-03 9.99987623e-01 6.48315724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791652532 meters 0.17761839457674758 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99982267e-01 4.88394553e-03 3.40770765e-03 -4.81713620e+00] [-4.87306112e-03 9.99983022e-01 -3.19508249e-03 -5.87281918e+00] [-3.42325440e-03 3.17841986e-03 9.99989089e-01 6.48614651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821652532 meters 0.17005166138782568 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99981454e-01 5.04189440e-03 3.41630479e-03 -4.81738117e+00] [-5.03202753e-03 9.99983161e-01 -2.89063776e-03 -5.87353867e+00] [-3.43082155e-03 2.87339321e-03 9.99989986e-01 6.48999477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851652532 meters 0.1748917024301637 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99980826e-01 5.12048315e-03 3.48253458e-03 -4.81769569e+00] [-5.11092537e-03 9.99983164e-01 -2.74787308e-03 -5.87375796e+00] [-3.49654639e-03 2.73002142e-03 9.99990161e-01 6.49237318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881652532 meters 0.1747756252694727 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99981282e-01 4.97611884e-03 3.55999741e-03 -4.81776249e+00] [-4.96534514e-03 9.99983086e-01 -3.02878628e-03 -5.87288076e+00] [-3.57500880e-03 3.01105297e-03 9.99989076e-01 6.48996199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911652532 meters 0.185569202677959 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99981478e-01 4.72629573e-03 3.83479916e-03 -4.81802688e+00] [-4.71258310e-03 9.99982498e-01 -3.57703161e-03 -5.87131570e+00] [-3.85163816e-03 3.55889355e-03 9.99986249e-01 6.48276780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941652532 meters 0.17643462534912344 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99982376e-01 4.66539479e-03 3.67188393e-03 -4.81749703e+00] [-4.65251075e-03 9.99983018e-01 -3.50959080e-03 -5.87182620e+00] [-3.68819520e-03 3.49244547e-03 9.99987100e-01 6.48049354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971652532 meters 0.17349655787146495 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99981743e-01 4.73439906e-03 3.75485831e-03 -4.81784959e+00] [-4.72153621e-03 9.99982981e-01 -3.42715170e-03 -5.87181604e+00] [-3.77101991e-03 3.40936043e-03 9.99987078e-01 6.48284598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001652532 meters 0.17658932553475054 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99979626e-01 4.88975496e-03 4.10346189e-03 -4.81891367e+00] [-4.87581531e-03 9.99982332e-01 -3.40020227e-03 -5.87130347e+00] [-4.12001554e-03 3.38012527e-03 9.99985800e-01 6.48617067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031652532 meters 0.17588902369021162 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978117e-01 5.13264117e-03 4.17385616e-03 -4.81942475e+00] [-5.12028514e-03 9.99982494e-01 -2.96565649e-03 -5.87233730e+00] [-4.18900474e-03 2.94422026e-03 9.99986892e-01 6.49218360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061652532 meters 0.1826886091329996 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978421e-01 5.07138757e-03 4.17591974e-03 -4.81922186e+00] [-5.05883247e-03 9.99982669e-01 -3.01164184e-03 -5.87247018e+00] [-4.19112057e-03 2.99045158e-03 9.99986746e-01 6.48884479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091652532 meters 0.17574846654172901 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99979038e-01 4.94660635e-03 4.17799246e-03 -4.81896939e+00] [-4.93351159e-03 9.99982904e-01 -3.13873479e-03 -5.87235684e+00] [-4.19344712e-03 3.11805682e-03 9.99986346e-01 6.48458592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121652532 meters 0.17796777842388756 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978971e-01 5.01549412e-03 4.11114012e-03 -4.81884744e+00] [-5.00351792e-03 9.99983224e-01 -2.91823591e-03 -5.87309425e+00] [-4.12570755e-03 2.89760438e-03 9.99987291e-01 6.48543760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151652532 meters 0.17225371782775128 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978336e-01 5.10613194e-03 4.15395437e-03 -4.81900638e+00] [-5.09468747e-03 9.99983210e-01 -2.76100930e-03 -5.87353332e+00] [-4.16798271e-03 2.73978639e-03 9.99987561e-01 6.48648163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18165253200002 meters 0.18285154413273963 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978090e-01 5.01131888e-03 4.32505195e-03 -4.81926400e+00] [-4.99819308e-03 9.99982887e-01 -3.04032234e-03 -5.87267184e+00] [-4.34021396e-03 3.01863828e-03 9.99986025e-01 6.48377683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21165253200002 meters 0.19566628935849892 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99978504e-01 4.79080903e-03 4.47654694e-03 -4.81939767e+00] [-4.77511293e-03 9.99982437e-01 -3.51043072e-03 -5.87113787e+00] [-4.49328612e-03 3.48897924e-03 9.99983819e-01 6.47931333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24165253200002 meters 0.17573083774953757 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99977991e-01 4.80172650e-03 4.57836704e-03 -4.81973162e+00] [-4.78548938e-03 9.99982245e-01 -3.55087014e-03 -5.87083205e+00] [-4.59533606e-03 3.52888226e-03 9.99983215e-01 6.48086173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.271652532 meters 0.18850434344561331 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99976951e-01 5.00479582e-03 4.58805889e-03 -4.82002917e+00] [-4.99022622e-03 9.99982488e-01 -3.18151499e-03 -5.87174084e+00] [-4.60390137e-03 3.15854621e-03 9.99984414e-01 6.48564083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301652532 meters 0.1912961318893927 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99975917e-01 5.13599318e-03 4.66765668e-03 -4.82041702e+00] [-5.12203733e-03 9.99982391e-01 -2.99695820e-03 -5.87206998e+00] [-4.68296685e-03 2.97297811e-03 9.99984615e-01 6.48897674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.331652532 meters 0.1787391581525635 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99976286e-01 5.19503898e-03 4.52086293e-03 -4.82002657e+00] [-5.18297239e-03 9.99982986e-01 -2.67672425e-03 -5.87340376e+00] [-4.53469169e-03 2.65322927e-03 9.99986198e-01 6.48929722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361652532 meters 0.18153653361267602 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.87, Z:0.65 [[ 9.99977020e-01 5.21329409e-03 4.33380270e-03 -4.81938191e+00] [-5.20277908e-03 9.99983503e-01 -2.43402166e-03 -5.87468444e+00] [-4.34642048e-03 2.41141791e-03 9.99987647e-01 6.48669299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.391652532 meters 0.19169868769161094 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.88, Z:0.65 [[ 9.99977022e-01 5.28606092e-03 4.24428327e-03 -4.81907426e+00] [-5.27705895e-03 9.99983809e-01 -2.12936890e-03 -5.87597602e+00] [-4.25547053e-03 2.10692264e-03 9.99988726e-01 6.48599520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421652532 meters 0.18729824312587073 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.88, Z:0.65 [[ 9.99983339e-01 4.80667202e-03 3.19638938e-03 -4.81592691e+00] [-4.80131007e-03 9.99987057e-01 -1.68306459e-03 -5.88018967e+00] [-3.20443795e-03 1.66768969e-03 9.99993475e-01 6.47549256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451652532 meters 0.17803084304483027 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.88, Z:0.65 [[ 9.99983973e-01 4.77434082e-03 3.04282166e-03 -4.81529397e+00] [-4.76977220e-03 9.99987489e-01 -1.50693476e-03 -5.88128344e+00] [-3.04997821e-03 1.49239704e-03 9.99994235e-01 6.47167464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481652532 meters 0.18313442256918913 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99984533e-01 4.67226574e-03 3.01727046e-03 -4.81489890e+00] [-4.66751167e-03 9.99987858e-01 -1.58074352e-03 -5.88152750e+00] [-3.02461947e-03 1.56663593e-03 9.99994199e-01 6.46627407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511652532 meters 0.17332725542331498 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.88, Z:0.65 [[ 9.99984413e-01 4.64361942e-03 3.10019241e-03 -4.81484864e+00] [-4.63861193e-03 9.99987929e-01 -1.62046097e-03 -5.88168411e+00] [-3.10767979e-03 1.60605512e-03 9.99993881e-01 6.46224781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541652532 meters 0.17622702043939772 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.88, Z:0.65 [[ 9.99983538e-01 4.75604753e-03 3.21007133e-03 -4.81503975e+00] [-4.75155651e-03 9.99987724e-01 -1.40522014e-03 -5.88252985e+00] [-3.21671522e-03 1.38994417e-03 9.99993860e-01 6.46148530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571652532 meters 0.17020437624620974 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99986083e-01 4.67388950e-03 2.44709377e-03 -4.81281789e+00] [-4.67212427e-03 9.99988822e-01 -7.26576753e-04 -5.88695011e+00] [-2.45046235e-03 7.15133515e-04 9.99996742e-01 6.45644477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601652532 meters 0.17630361182638218 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99984667e-01 4.95122114e-03 2.47997843e-03 -4.81314683e+00] [-4.95075492e-03 9.99987726e-01 -1.94100673e-04 -5.88852061e+00] [-2.48090902e-03 1.81819931e-04 9.99996906e-01 6.46151325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631652532 meters 0.17736006267023896 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99984120e-01 5.11967894e-03 2.35564341e-03 -4.81294715e+00] [-5.12041578e-03 9.99986843e-01 3.06870504e-04 -5.89031701e+00] [-2.35404134e-03 -3.18927504e-04 9.99997178e-01 6.46440361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661652532 meters 0.18018847856945894 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99984691e-01 5.09336970e-03 2.16225553e-03 -4.81223943e+00] [-5.09450777e-03 9.99986887e-01 5.21151400e-04 -5.89162991e+00] [-2.15957275e-03 -5.32159050e-04 9.99997527e-01 6.46114416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691652532 meters 0.17042747613698597 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.89, Z:0.65 [[ 9.99996713e-01 8.88851034e-04 2.40517856e-03 -4.81256495e+00] [-8.80132883e-04 9.99993048e-01 -3.62337534e-03 -5.89240099e+00] [-2.40838248e-03 3.62124655e-03 9.99990543e-01 6.45635535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721652532 meters 0.16693780231107488 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99997733e-01 9.22007669e-04 1.91960390e-03 -4.81129282e+00] [-9.16327835e-04 9.99995206e-01 -2.95763722e-03 -5.89541221e+00] [-1.92232166e-03 2.95587152e-03 9.99993784e-01 6.45480964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751652532 meters 0.1636641934486022 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99997998e-01 1.07119411e-03 1.68991614e-03 -4.81074008e+00] [-1.06714151e-03 9.99996557e-01 -2.39719103e-03 -5.89752216e+00] [-1.69247818e-03 2.39538285e-03 9.99995699e-01 6.45522492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781652532 meters 0.16161623590404378 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99998020e-01 1.11768048e-03 1.64654074e-03 -4.81044335e+00] [-1.11409210e-03 9.99997006e-01 -2.17865241e-03 -5.89861751e+00] [-1.64897085e-03 2.17681370e-03 9.99996271e-01 6.45260972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811652532 meters 0.16121506831986973 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.65 [[ 9.99997509e-01 1.41955557e-03 1.72265948e-03 -4.81064618e+00] [-1.41692052e-03 9.99997826e-01 -1.52989593e-03 -5.90076294e+00] [-1.72482751e-03 1.52745124e-03 9.99997346e-01 6.45362744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841652532 meters 0.1646412378746706 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.90, Z:0.64 [[ 9.99998177e-01 1.38426318e-03 1.31530254e-03 -4.80936077e+00] [-1.38288504e-03 9.99998495e-01 -1.04810420e-03 -5.90340522e+00] [-1.31675141e-03 1.04628338e-03 9.99998586e-01 6.44996190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871652532 meters 0.1755759615723404 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.91, Z:0.65 [[ 9.99997953e-01 1.71544480e-03 1.07265421e-03 -4.80905212e+00] [-1.71529139e-03 9.99998519e-01 -1.43923668e-04 -5.90641628e+00] [-1.07289951e-03 1.42083459e-04 9.99999414e-01 6.45584663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901652532 meters 0.18162993963653942 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.91, Z:0.65 [[ 9.99998382e-01 1.74368445e-03 4.42864712e-04 -4.80724740e+00] [-1.74401934e-03 9.99998193e-01 7.56932451e-04 -5.91137908e+00] [-4.41544060e-04 -7.57703591e-04 9.99999615e-01 6.45361730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93165253200002 meters 0.16500366258615182 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.91, Z:0.65 [[ 9.99998176e-01 1.89528982e-03 2.38283267e-04 -4.80675009e+00] [-1.89561193e-03 9.99997280e-01 1.35891600e-03 -5.91378686e+00] [-2.35707079e-04 -1.35936521e-03 9.99999048e-01 6.45482350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96165253200002 meters 0.16550964124530973 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.65 [[ 9.99998269e-01 1.86013993e-03 -4.07738088e-05 -4.80585075e+00] [-1.86006759e-03 9.99996812e-01 1.70773589e-03 -5.91564793e+00] [ 4.39503066e-05 -1.70765709e-03 9.99998541e-01 6.45218065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99165253200002 meters 0.15676699069300082 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.65 [[ 9.99998161e-01 1.90384691e-03 -2.32823489e-04 -4.80523006e+00] [-1.90334920e-03 9.99995942e-01 2.11959611e-03 -5.91748607e+00] [ 2.36857930e-04 -2.11914906e-03 9.99997727e-01 6.45038570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.021652532 meters 0.16339958685499176 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.64 [[ 9.99998179e-01 1.76686655e-03 -7.20947021e-04 -4.80346835e+00] [-1.76498220e-03 9.99995047e-01 2.60602969e-03 -5.92062128e+00] [ 7.25547956e-04 -2.60475249e-03 9.99996344e-01 6.44233793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.051652532 meters 0.16216328190586077 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.64 [[ 9.99997987e-01 1.83091369e-03 -8.20469764e-04 -4.80300624e+00] [-1.82844818e-03 9.99993841e-01 2.99573048e-03 -5.92248354e+00] [ 8.25949635e-04 -2.99422427e-03 9.99995176e-01 6.43989289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081652532 meters 0.15580394415426796 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.92, Z:0.64 [[ 9.99997796e-01 1.56118119e-03 -1.40365947e-03 -4.80112704e+00] [-1.55655623e-03 9.99993376e-01 3.29001008e-03 -5.92489883e+00] [ 1.40878647e-03 -3.28781796e-03 9.99993603e-01 6.43344623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111652532 meters 0.18643811836914023 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.64 [[ 9.99995994e-01 -2.58517686e-03 -1.15261217e-03 -4.80149769e+00] [ 2.58432416e-03 9.99996386e-01 -7.40672731e-04 -5.92623112e+00] [ 1.15452277e-03 7.37691041e-04 9.99999061e-01 6.42967735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141652532 meters 0.18109945704242378 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.64 [[ 9.99997091e-01 -2.08746506e-03 -1.20879343e-03 -4.80188692e+00] [ 2.08778485e-03 9.99997786e-01 2.63345671e-04 -5.92910656e+00] [ 1.20824103e-03 -2.65868606e-04 9.99999235e-01 6.43928102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171652532 meters 0.1792396332125355 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.64 [[ 9.99997537e-01 -1.83182550e-03 -1.25332138e-03 -4.80190812e+00] [ 1.83287102e-03 9.99997973e-01 8.33557694e-04 -5.93106128e+00] [ 1.25179191e-03 -8.35852817e-04 9.99998867e-01 6.44263229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201652532 meters 0.17804839597948105 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.93, Z:0.64 [[ 9.99998374e-01 -1.41254108e-03 -1.12147194e-03 -4.80250363e+00] [ 1.41427211e-03 9.99997808e-01 1.54424040e-03 -5.93323131e+00] [ 1.11928818e-03 -1.54582396e-03 9.99998179e-01 6.44774439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231652532 meters 0.17516487335557493 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.94, Z:0.64 [[ 9.99997616e-01 -1.50235896e-03 -1.58438354e-03 -4.80104577e+00] [ 1.50556785e-03 9.99996814e-01 2.02607876e-03 -5.93619389e+00] [ 1.58133460e-03 -2.02845933e-03 9.99996692e-01 6.44430464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261652532 meters 0.17516487335557493 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.94, Z:0.64 [[ 9.99997616e-01 -1.50235896e-03 -1.58438354e-03 -4.80104577e+00] [ 1.50556785e-03 9.99996814e-01 2.02607876e-03 -5.93619389e+00] [ 1.58133460e-03 -2.02845933e-03 9.99996692e-01 6.44430464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291652532 meters 0.15361097434326287 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.94, Z:0.64 [[ 9.99981015e-01 -5.79277742e-03 -2.10062190e-03 -4.79944599e+00] [ 5.78982979e-03 9.99982250e-01 -1.40659693e-03 -5.94037058e+00] [ 2.10873271e-03 1.39440798e-03 9.99996804e-01 6.44148683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321652532 meters 0.1697944083374859 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.94, Z:0.65 [[ 9.99983708e-01 -5.27756640e-03 -2.17489408e-03 -4.79980155e+00] [ 5.27677877e-03 9.99986010e-01 -3.67726184e-04 -5.94331206e+00] [ 2.17680435e-03 3.56243758e-04 9.99997567e-01 6.45136565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351652532 meters 0.16341847895457512 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99981835e-01 -5.25727738e-03 -2.94794651e-03 -4.79778103e+00] [ 5.25971657e-03 9.99985831e-01 8.20278109e-04 -5.94843855e+00] [ 2.94359231e-03 -8.35768572e-04 9.99995318e-01 6.45191653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381652532 meters 0.158981117366773 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99981516e-01 -5.07317441e-03 -3.35127990e-03 -4.79699230e+00] [ 5.07895510e-03 9.99985625e-01 1.71866712e-03 -5.95165248e+00] [ 3.34251263e-03 -1.73565636e-03 9.99992908e-01 6.45669350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411652532 meters 0.15660551197417447 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99981753e-01 -4.87692628e-03 -3.56503077e-03 -4.79663221e+00] [ 4.88537010e-03 9.99985273e-01 2.36365431e-03 -5.95386051e+00] [ 3.55345090e-03 -2.38102767e-03 9.99990852e-01 6.46055837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441652532 meters 0.15347603065136262 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.96, Z:0.65 [[ 9.99982855e-01 -4.64434131e-03 -3.56661246e-03 -4.79676093e+00] [ 4.65448355e-03 9.99985133e-01 2.84064488e-03 -5.95542439e+00] [ 3.55336651e-03 -2.85719691e-03 9.99989605e-01 6.46320708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471652532 meters 0.16498487460181221 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.96, Z:0.65 [[ 9.99982175e-01 -4.58526580e-03 -3.82421520e-03 -4.79601691e+00] [ 4.59796000e-03 9.99983927e-01 3.31726540e-03 -5.95764014e+00] [ 3.80894319e-03 -3.33478986e-03 9.99987185e-01 6.46264822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501652532 meters 0.15111881013861067 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.65 [[ 9.99977001e-01 -4.81574934e-03 -4.77560759e-03 -4.79344305e+00] [ 4.83496639e-03 9.99980229e-01 4.02065352e-03 -5.96204296e+00] [ 4.75615071e-03 -4.04365095e-03 9.99980514e-01 6.45956733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531652532 meters 0.14473886914203565 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.65 [[ 9.99975258e-01 -4.81290670e-03 -5.13013913e-03 -4.79239819e+00] [ 4.83547819e-03 9.99978644e-01 4.39649550e-03 -5.96418429e+00] [ 5.10886965e-03 -4.42119340e-03 9.99977176e-01 6.45760496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561652532 meters 0.14473886914203565 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.65 [[ 9.99975258e-01 -4.81290670e-03 -5.13013913e-03 -4.79239819e+00] [ 4.83547819e-03 9.99978644e-01 4.39649550e-03 -5.96418429e+00] [ 5.10886965e-03 -4.42119340e-03 9.99977176e-01 6.45760496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591652532 meters 0.14670228472069552 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.97, Z:0.65 [[ 9.99975596e-01 -4.70526944e-03 -5.16411129e-03 -4.79238812e+00] [ 4.72931148e-03 9.99977990e-01 4.65330599e-03 -5.96509011e+00] [ 5.14210257e-03 -4.67761512e-03 9.99975839e-01 6.45895543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621652532 meters 0.13986018084174695 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.65 [[ 9.99974094e-01 -4.92372638e-03 -5.25047527e-03 -4.79181181e+00] [ 4.94654152e-03 9.99978342e-01 4.34125067e-03 -5.96452808e+00] [ 5.22898643e-03 -4.36710990e-03 9.99976793e-01 6.45266124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651652532 meters 0.14090080719352227 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.64 [[ 9.99974272e-01 -5.01642587e-03 -5.12751077e-03 -4.79189798e+00] [ 5.03747941e-03 9.99978901e-01 4.10136303e-03 -5.96395193e+00] [ 5.10682840e-03 -4.12708724e-03 9.99978443e-01 6.44865693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68165253200002 meters 0.13879866896022353 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.97, Z:0.65 [[ 9.99972697e-01 -4.88032679e-03 -5.54873119e-03 -4.79114468e+00] [ 4.90707027e-03 9.99976361e-01 4.81639095e-03 -5.96666124e+00] [ 5.52509446e-03 -4.84348746e-03 9.99973007e-01 6.45432577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71165253200002 meters 0.13702957984120165 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.97, Z:0.65 [[ 9.99974080e-01 -4.79665430e-03 -5.36939922e-03 -4.79170853e+00] [ 4.82239636e-03 9.99976892e-01 4.79158038e-03 -5.96628925e+00] [ 5.34629159e-03 -4.81734955e-03 9.99974105e-01 6.45547662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74165253200002 meters 0.13785631507430912 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.64 [[ 9.99975631e-01 -4.90314323e-03 -4.96952379e-03 -4.79238733e+00] [ 4.92406838e-03 9.99979026e-01 4.20724303e-03 -5.96442579e+00] [ 4.94879085e-03 -4.23161078e-03 9.99978801e-01 6.44846554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.771652532 meters 0.14048297752050495 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.64 [[ 9.99976528e-01 -5.15007914e-03 -4.51876111e-03 -4.79302351e+00] [ 5.16476445e-03 9.99981400e-01 3.24422401e-03 -5.96141436e+00] [ 4.50196905e-03 -3.26748620e-03 9.99984528e-01 6.43806517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801652532 meters 0.14694466613350166 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.96, Z:0.64 [[ 9.99976467e-01 -5.41296912e-03 -4.21477483e-03 -4.79349530e+00] [ 5.42323639e-03 9.99982346e-01 2.42841055e-03 -5.95862005e+00] [ 4.20155551e-03 -2.45121112e-03 9.99988169e-01 6.43136803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.831652532 meters 0.1545943871610191 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.96, Z:0.64 [[ 9.99982702e-01 -4.83267773e-03 -3.35275287e-03 -4.79646634e+00] [ 4.84053206e-03 9.99985550e-01 2.33850660e-03 -5.95660806e+00] [ 3.34140317e-03 -2.35469526e-03 9.99991645e-01 6.44368460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861652532 meters 0.14762796827187147 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.96, Z:0.65 [[ 9.99984421e-01 -4.59501892e-03 -3.16922665e-03 -4.79739496e+00] [ 4.60315497e-03 9.99986117e-01 2.56470707e-03 -5.95665931e+00] [ 3.15739777e-03 -2.57925555e-03 9.99991689e-01 6.45087214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.891652532 meters 0.15230323871918777 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.96, Z:0.65 [[ 9.99987200e-01 -4.25671426e-03 -2.73511472e-03 -4.79923500e+00] [ 4.26400608e-03 9.99987356e-01 2.66572507e-03 -5.95559321e+00] [ 2.72373290e-03 -2.67735350e-03 9.99992707e-01 6.46187848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921652532 meters 0.15029218438142383 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99987983e-01 -4.32552481e-03 -2.30727927e-03 -4.80028763e+00] [ 4.33025891e-03 9.99988522e-01 2.05077629e-03 -5.95315558e+00] [ 2.29838210e-03 -2.06074277e-03 9.99995235e-01 6.46065634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951652532 meters 0.15391341759867957 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99989166e-01 -4.28675183e-03 -1.81436974e-03 -4.80172652e+00] [ 4.28958934e-03 9.99989578e-01 1.56291545e-03 -5.95069727e+00] [ 1.80765100e-03 -1.57068142e-03 9.99997133e-01 6.46212987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981652532 meters 0.14696677922120632 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.95, Z:0.65 [[ 9.99990166e-01 -4.19126798e-03 -1.44952672e-03 -4.80304686e+00] [ 4.19315146e-03 9.99990365e-01 1.29879127e-03 -5.94878309e+00] [ 1.44406917e-03 -1.30485658e-03 9.99998106e-01 6.46705325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011652532 meters 0.15467879215869323 Centerline is valid? [False, False] Translation: X:-4.80, Y:-5.94, Z:0.65 [[ 9.99999505e-01 3.82728425e-05 -9.94724463e-04 -4.80443498e+00] [-3.36335565e-05 9.99989125e-01 4.66348887e-03 -5.94474361e+00] [ 9.94892131e-04 -4.66345310e-03 9.99988631e-01 6.46755358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041652532 meters 0.15966179865761268 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.94, Z:0.65 [[ 9.99999766e-01 -1.75936032e-04 -6.60618674e-04 -4.80506263e+00] [ 1.78504397e-04 9.99992419e-01 3.88977313e-03 -5.94206069e+00] [ 6.59929314e-04 -3.88989014e-03 9.99992217e-01 6.46255201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071652532 meters 0.17933963359862412 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.94, Z:0.65 [[ 9.99999753e-01 -4.43154860e-04 -5.45071982e-04 -4.80520262e+00] [ 4.44902148e-04 9.99994750e-01 3.20967700e-03 -5.93979475e+00] [ 5.43646736e-04 -3.20991871e-03 9.99994700e-01 6.45869406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101652532 meters 0.18057480841471754 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.94, Z:0.65 [[ 9.99991966e-01 4.00512103e-03 1.63404858e-04 -4.80752924e+00] [-4.00612066e-03 9.99969791e-01 6.66098366e-03 -5.93535265e+00] [-1.36721875e-04 -6.66158476e-03 9.99977802e-01 6.46576329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131652532 meters 0.16883258160920833 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.93, Z:0.65 [[ 9.99992341e-01 3.85314744e-03 6.86935916e-04 -4.80873886e+00] [-3.85706510e-03 9.99975764e-01 5.79603626e-03 -5.93205135e+00] [-6.64586286e-04 -5.79864142e-03 9.99982967e-01 6.46399367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161652532 meters 0.15526143770307335 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.93, Z:0.65 [[ 9.99993545e-01 3.47345811e-03 9.18981207e-04 -4.80901601e+00] [-3.47783717e-03 9.99982397e-01 4.80723113e-03 -5.92889866e+00] [-9.02267314e-04 -4.81039617e-03 9.99988023e-01 6.45731888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191652532 meters 0.16111755283785895 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.93, Z:0.65 [[ 9.99994002e-01 3.24935166e-03 1.19887486e-03 -4.80962948e+00] [-3.25417710e-03 9.99986523e-01 4.04521551e-03 -5.92620674e+00] [-1.18571437e-03 -4.04909260e-03 9.99991099e-01 6.45466146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221652532 meters 0.17137155670417906 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.65 [[ 9.99992566e-01 3.22289131e-03 2.11663540e-03 -4.81181713e+00] [-3.22855412e-03 9.99991204e-01 2.67743862e-03 -5.92084813e+00] [-2.10798769e-03 -2.68425239e-03 9.99994176e-01 6.45045205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251652532 meters 0.17397678508839548 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.64 [[ 9.99991854e-01 3.06050124e-03 2.63143354e-03 -4.81281341e+00] [-3.06533746e-03 9.99993617e-01 1.83580035e-03 -5.91792459e+00] [-2.62579827e-03 -1.84385163e-03 9.99994853e-01 6.44521324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281652532 meters 0.17053873713675224 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.64 [[ 9.99992107e-01 3.01805776e-03 2.58401807e-03 -4.81286771e+00] [-3.02265466e-03 9.99993853e-01 1.77692191e-03 -5.91761738e+00] [-2.57863933e-03 -1.78471848e-03 9.99995083e-01 6.44815081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311652532 meters 0.17024649835770014 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.92, Z:0.64 [[ 9.99992429e-01 2.79999483e-03 2.70222853e-03 -4.81303050e+00] [-2.80336685e-03 9.99995296e-01 1.24488689e-03 -5.91591641e+00] [-2.69873014e-03 -1.25245280e-03 9.99995574e-01 6.44547792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341652532 meters 0.1790723597896564 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.91, Z:0.64 [[ 9.99988987e-01 2.92001791e-03 3.67403155e-03 -4.81570052e+00] [-2.92077391e-03 9.99995714e-01 2.00419994e-04 -5.91037148e+00] [-3.67343057e-03 -2.11148802e-04 9.99993231e-01 6.44968769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371652532 meters 0.17935143724259117 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.91, Z:0.64 [[ 9.99987376e-01 2.62843409e-03 4.28238678e-03 -4.81679683e+00] [-2.62421567e-03 9.99996066e-01 -9.90385009e-04 -5.90615628e+00] [-4.28497310e-03 9.79134600e-04 9.99990340e-01 6.44295665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401652532 meters 0.17945381346096462 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.90, Z:0.64 [[ 9.99986874e-01 2.60013323e-03 4.41495070e-03 -4.81738032e+00] [-2.59479804e-03 9.99995897e-01 -1.21373567e-03 -5.90491580e+00] [-4.41808846e-03 1.20226383e-03 9.99989517e-01 6.44667474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43165253200002 meters 0.17721117766578948 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.90, Z:0.65 [[ 9.99981074e-01 2.84518808e-03 5.45490805e-03 -4.82021221e+00] [-2.83345142e-03 9.99993657e-01 -2.15809998e-03 -5.89990209e+00] [-5.46101365e-03 2.14260292e-03 9.99982793e-01 6.45060528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46165253200002 meters 0.18748566555043522 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.90, Z:0.65 [[ 9.99976495e-01 2.95715968e-03 6.18589328e-03 -4.82205491e+00] [-2.94024014e-03 9.99991917e-01 -2.74248949e-03 -5.89696431e+00] [-6.19395325e-03 2.72423701e-03 9.99977106e-01 6.45195005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49165253200002 meters 0.18168984071614758 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.89, Z:0.65 [[ 9.99970959e-01 3.21097284e-03 6.91161084e-03 -4.82439175e+00] [-3.18971831e-03 9.99990157e-01 -3.08402138e-03 -5.89417374e+00] [-6.92144552e-03 3.06188573e-03 9.99971359e-01 6.46111322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.521652532 meters 0.18358584772596345 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99967932e-01 3.17030940e-03 7.35412866e-03 -4.82545378e+00] [-3.14415478e-03 9.99988701e-01 -3.56529422e-03 -5.89208415e+00] [-7.36534865e-03 3.54205737e-03 9.99966602e-01 6.46047694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.551652532 meters 0.1876757726831037 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99966028e-01 3.29780160e-03 7.55424293e-03 -4.82638804e+00] [-3.27134822e-03 9.99988484e-01 -3.51147419e-03 -5.89148146e+00] [-7.56573608e-03 3.48664234e-03 9.99965301e-01 6.46728720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581652532 meters 0.1830045984937105 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99964587e-01 3.41299063e-03 7.69260269e-03 -4.82703704e+00] [-3.38636057e-03 9.99988238e-01 -3.47214617e-03 -5.89101771e+00] [-7.70436261e-03 3.44597328e-03 9.99964383e-01 6.47180135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.611652532 meters 0.18739725297629733 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99963641e-01 3.53895018e-03 7.75837063e-03 -4.82757763e+00] [-3.51357904e-03 9.99988444e-01 -3.28135790e-03 -5.89113014e+00] [-7.76989353e-03 3.25397895e-03 9.99964520e-01 6.47839069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641652532 meters 0.17815530287690673 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99962592e-01 3.71382233e-03 7.81164858e-03 -4.82815438e+00] [-3.69006761e-03 9.99988531e-01 -3.05315351e-03 -5.89115043e+00] [-7.82289785e-03 3.02421378e-03 9.99964828e-01 6.48533775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671652532 meters 0.18516699732426858 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99930779e-01 8.20361661e-03 8.43431970e-03 -4.83037870e+00] [-8.21239309e-03 9.99965771e-01 1.00646048e-03 -5.88841455e+00] [-8.42577439e-03 -1.07565676e-03 9.99963924e-01 6.49721589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701652532 meters 0.18067156076505467 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99931404e-01 8.00127657e-03 8.55380071e-03 -4.83054110e+00] [-8.00653108e-03 9.99967779e-01 5.80221749e-04 -5.88704931e+00] [-8.54888258e-03 -6.48668219e-04 9.99963247e-01 6.49471937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731652532 meters 0.17986690900866756 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.89, Z:0.65 [[ 9.99931797e-01 7.73665471e-03 8.74902460e-03 -4.83079865e+00] [-7.73665210e-03 9.99970071e-01 -3.41435414e-05 -5.88504480e+00] [-8.74902691e-03 -3.35469469e-05 9.99961726e-01 6.49039912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761652532 meters 0.19016984568519668 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.88, Z:0.65 [[ 9.99922642e-01 7.63675285e-03 9.81787902e-03 -4.83286139e+00] [-7.62392377e-03 9.99970035e-01 -1.34347005e-03 -5.88030400e+00] [-9.82784457e-03 1.26851536e-03 9.99950901e-01 6.48078854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791652532 meters 0.1777643008428589 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.88, Z:0.65 [[ 9.99921906e-01 7.44149348e-03 1.00401866e-02 -4.83311817e+00] [-7.42387199e-03 9.99970838e-01 -1.79122612e-03 -5.87902870e+00] [-1.00532232e-02 1.71654918e-03 9.99947992e-01 6.47605437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821652532 meters 0.18924964449544512 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.88, Z:0.65 [[ 9.99923683e-01 7.33910269e-03 9.93813241e-03 -4.83282263e+00] [-7.32072622e-03 9.99971428e-01 -1.88420498e-03 -5.87880162e+00] [-9.95167683e-03 1.81130683e-03 9.99948840e-01 6.47541996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851652532 meters 0.18771515527896357 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.87, Z:0.65 [[ 9.99916998e-01 7.09581432e-03 1.07538633e-02 -4.83430773e+00] [-7.06208885e-03 9.99970036e-01 -3.17086199e-03 -5.87436596e+00] [-1.07760409e-02 3.09465407e-03 9.99937148e-01 6.46577272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881652532 meters 0.1848224524840097 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.87, Z:0.65 [[ 9.99914543e-01 7.14948586e-03 1.09449071e-02 -4.83496782e+00] [-7.11544449e-03 9.99969736e-01 -3.14603440e-03 -5.87410765e+00] [-1.09670684e-02 3.06788767e-03 9.99935154e-01 6.46931168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911652532 meters 0.20862827940134507 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.87, Z:0.65 [[ 9.99916336e-01 7.03769125e-03 1.08532330e-02 -4.83462405e+00] [-7.00273463e-03 9.99970181e-01 -3.25549488e-03 -5.87395732e+00] [-1.08758205e-02 3.17922020e-03 9.99935802e-01 6.46720603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941652532 meters 0.20855854173833496 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.87, Z:0.65 [[ 9.99915053e-01 6.81348337e-03 1.11113831e-02 -4.83498911e+00] [-6.77109881e-03 9.99969673e-01 -3.84768629e-03 -5.87202115e+00] [-1.11372623e-02 3.77212317e-03 9.99930864e-01 6.46219593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971652532 meters 0.18609947795574422 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.87, Z:0.65 [[ 9.99911672e-01 6.71538498e-03 1.14696154e-02 -4.83575055e+00] [-6.66682816e-03 9.99968675e-01 -4.26651839e-03 -5.87038416e+00] [-1.14979074e-02 4.18967559e-03 9.99925120e-01 6.45989011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001652532 meters 0.20665925910615265 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99988457e-01 2.66931873e-03 3.99512315e-03 -4.84603240e+00] [-2.68242871e-03 9.99991024e-01 3.27974337e-03 -5.87752706e+00] [-3.98633261e-03 -3.29042214e-03 9.99986641e-01 6.50055743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031652532 meters 0.18425916668574183 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99988641e-01 2.60305922e-03 3.99276284e-03 -4.84570943e+00] [-2.61586857e-03 9.99991438e-01 3.20628098e-03 -5.87772752e+00] [-3.98438251e-03 -3.21668910e-03 9.99986889e-01 6.49564863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061652532 meters 0.18349484767531915 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.88, Z:0.65 [[ 9.99992702e-01 1.85835514e-03 3.33812376e-03 -4.84297829e+00] [-1.86720080e-03 9.99994749e-01 2.64873320e-03 -5.87818053e+00] [-3.33318395e-03 -2.65494682e-03 9.99990921e-01 6.47593017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091652532 meters 0.18205956705266046 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.88, Z:0.65 [[ 9.99992551e-01 1.60912989e-03 3.50849390e-03 -4.84302699e+00] [-1.61651882e-03 9.99996480e-01 2.10419487e-03 -5.87671919e+00] [-3.50509562e-03 -2.10985075e-03 9.99991631e-01 6.46947814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121652532 meters 0.18537280997940125 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.87, Z:0.65 [[ 9.99990804e-01 1.50426727e-03 4.01604528e-03 -4.84404532e+00] [-1.51041136e-03 9.99997693e-01 1.52729034e-03 -5.87460560e+00] [-4.01373856e-03 -1.53334217e-03 9.99990769e-01 6.46597179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151652532 meters 0.19360266516475524 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.87, Z:0.65 [[ 9.99989833e-01 1.66507378e-03 4.19074714e-03 -4.84477972e+00] [-1.67244791e-03 9.99997058e-01 1.75673322e-03 -5.87485506e+00] [-4.18780972e-03 -1.76372417e-03 9.99989676e-01 6.47114278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18165253200002 meters 0.1927245676049172 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.88, Z:0.65 [[ 9.99989842e-01 2.15910744e-03 3.95653876e-03 -4.84498471e+00] [-2.17022104e-03 9.99993706e-01 2.80678332e-03 -5.87755737e+00] [-3.95045371e-03 -2.81534138e-03 9.99988234e-01 6.48529020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21165253200002 meters 0.1927245676049172 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.88, Z:0.65 [[ 9.99989842e-01 2.15910744e-03 3.95653876e-03 -4.84498471e+00] [-2.17022104e-03 9.99993706e-01 2.80678332e-03 -5.87755737e+00] [-3.95045371e-03 -2.81534138e-03 9.99988234e-01 6.48529020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24165253200002 meters 0.1934088678867814 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99989276e-01 2.28498003e-03 4.02827190e-03 -4.84512482e+00] [-2.29728061e-03 9.99992705e-01 3.05158446e-03 -5.87850698e+00] [-4.02126970e-03 -3.06080581e-03 9.99987230e-01 6.48548352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.271652532 meters 0.18463900961003565 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99988716e-01 2.37114134e-03 4.11650571e-03 -4.84530646e+00] [-2.38422450e-03 9.99992113e-01 3.17622625e-03 -5.87895726e+00] [-4.10894197e-03 -3.18600508e-03 9.99986483e-01 6.48537234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301652532 meters 0.1877699960493794 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99988038e-01 2.49799981e-03 4.20528056e-03 -4.84548443e+00] [-2.51241531e-03 9.99990975e-01 3.42616588e-03 -5.87986186e+00] [-4.19668404e-03 -3.43669031e-03 9.99985288e-01 6.48544883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.331652532 meters 0.18879142451718411 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99987943e-01 -1.69407839e-03 4.60918679e-03 -4.84649942e+00] [ 1.69842590e-03 9.99998116e-01 -9.39477515e-04 -5.87922800e+00] [-4.60758656e-03 9.47294549e-04 9.99988936e-01 6.48577630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361652532 meters 0.1989933353691037 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99989301e-01 -1.70240114e-03 4.30102644e-03 -4.84538633e+00] [ 1.70479044e-03 9.99998395e-01 -5.51913759e-04 -5.88144027e+00] [-4.30007995e-03 5.59240204e-04 9.99990598e-01 6.48077203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.391652532 meters 0.1986600935597041 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99990021e-01 -1.53504617e-03 4.19539133e-03 -4.84521308e+00] [ 1.53559915e-03 9.99998813e-01 -1.28587502e-04 -5.88284500e+00] [-4.19518896e-03 1.35028658e-04 9.99991191e-01 6.48258279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421652532 meters 0.19837228798086873 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99990473e-01 -1.48948309e-03 4.10308800e-03 -4.84505242e+00] [ 1.48907859e-03 9.99998886e-01 1.01637185e-04 -5.88366631e+00] [-4.10323481e-03 -9.55263966e-05 9.99991577e-01 6.48430004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451652532 meters 0.1902191643156634 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99990999e-01 -1.29473712e-03 4.04040378e-03 -4.84522047e+00] [ 1.29258354e-03 9.99999021e-01 5.35575836e-04 -5.88478446e+00] [-4.04109325e-03 -5.30348456e-04 9.99991694e-01 6.49018391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481652532 meters 0.18693371769241998 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99991074e-01 -1.05227996e-03 4.09192260e-03 -4.84572620e+00] [ 1.04825788e-03 9.99998966e-01 9.84952792e-04 -5.88581658e+00] [-4.09295481e-03 -9.80654610e-04 9.99991143e-01 6.49754516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511652532 meters 0.18939908979718797 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99991386e-01 -8.57740550e-04 4.06105783e-03 -4.84596934e+00] [ 8.52145998e-04 9.99998686e-01 1.37913957e-03 -5.88678160e+00] [-4.06223544e-03 -1.37566708e-03 9.99990803e-01 6.50337550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541652532 meters 0.18293488110566988 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99991692e-01 -6.76865101e-04 4.01975946e-03 -4.84612745e+00] [ 6.69867967e-04 9.99998259e-01 1.74177613e-03 -5.88773981e+00] [-4.02093141e-03 -1.73906895e-03 9.99990404e-01 6.50814744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571652532 meters 0.18992353929260114 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99993180e-01 -7.45075971e-04 3.61733462e-03 -4.84504241e+00] [ 7.37610172e-04 9.99997596e-01 2.06479078e-03 -5.88955451e+00] [-3.61886435e-03 -2.06210852e-03 9.99991326e-01 6.50731567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601652532 meters 0.18751448734976817 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99993860e-01 -7.99117017e-04 3.41183404e-03 -4.84427272e+00] [ 7.91715421e-04 9.99997332e-01 2.17018875e-03 -5.89061496e+00] [-3.41355917e-03 -2.16747423e-03 9.99991825e-01 6.50329304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631652532 meters 0.18854938895111728 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99993643e-01 -9.54469439e-04 3.43542523e-03 -4.84396621e+00] [ 9.47783273e-04 9.99997655e-01 1.94734320e-03 -5.89036156e+00] [-3.43727585e-03 -1.94407478e-03 9.99992203e-01 6.49745343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661652532 meters 0.18129029048237855 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99993048e-01 -1.17122885e-03 3.54002060e-03 -4.84398432e+00] [ 1.16590630e-03 9.99998187e-01 1.50522464e-03 -5.88908647e+00] [-3.54177715e-03 -1.50108684e-03 9.99992601e-01 6.49296826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691652532 meters 0.18675590277494888 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99992289e-01 -1.26990414e-03 3.71620207e-03 -4.84455726e+00] [ 1.26543254e-03 9.99998473e-01 1.20537473e-03 -5.88749165e+00] [-3.71772710e-03 -1.20066283e-03 9.99992368e-01 6.49436183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721652532 meters 0.21119801600728375 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99992119e-01 2.50554588e-03 3.07958217e-03 -4.84235620e+00] [-2.52153039e-03 9.99983313e-01 5.19760171e-03 -5.88837208e+00] [-3.06650795e-03 -5.20532601e-03 9.99981750e-01 6.48463164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751652532 meters 0.1863462967862142 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99991143e-01 -1.02271498e-03 4.08272811e-03 -4.84575553e+00] [ 1.01739273e-03 9.99998630e-01 1.30546531e-03 -5.88670235e+00] [-4.08405764e-03 -1.30130001e-03 9.99990814e-01 6.50042579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781652532 meters 0.2019638955025707 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99989864e-01 -1.07411406e-03 4.37234826e-03 -4.84646727e+00] [ 1.07009574e-03 9.99999003e-01 9.21265372e-04 -5.88512634e+00] [-4.37333344e-03 -9.16577203e-04 9.99990017e-01 6.50017998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811652532 meters 0.20570022385868303 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99989809e-01 -1.10336719e-03 4.37764753e-03 -4.84645779e+00] [ 1.09960790e-03 9.99999025e-01 8.61059641e-04 -5.88498713e+00] [-4.37859333e-03 -8.56237170e-04 9.99990047e-01 6.49988015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841652532 meters 0.20490264395611926 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99989171e-01 -1.19031875e-03 4.49894643e-03 -4.84658016e+00] [ 1.18744823e-03 9.99999090e-01 6.40658322e-04 -5.88443960e+00] [-4.49970492e-03 -6.35309119e-04 9.99989674e-01 6.49700600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871652532 meters 0.19078474731663037 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99989058e-01 -9.68310343e-04 4.57670121e-03 -4.84718768e+00] [ 9.63866486e-04 9.99999062e-01 9.73079710e-04 -5.88491884e+00] [-4.57763917e-03 -9.68657733e-04 9.99989053e-01 6.50374018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901652532 meters 0.1945188088459783 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.88, Z:0.65 [[ 9.99988941e-01 -1.11076425e-03 4.56987220e-03 -4.84692452e+00] [ 1.10718441e-03 9.99999078e-01 7.85812030e-04 -5.88461551e+00] [-4.57074084e-03 -7.80743649e-04 9.99989249e-01 6.49968406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93165253200002 meters 0.19709841784346782 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99989409e-01 -1.01380002e-03 4.48938525e-03 -4.84678949e+00] [ 1.00898835e-03 9.99998914e-01 1.07392228e-03 -5.88557750e+00] [-4.49046912e-03 -1.06938117e-03 9.99989346e-01 6.50113898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96165253200002 meters 0.1920522022307973 Centerline is valid? [False, False] Translation: X:-4.85, Y:-5.89, Z:0.65 [[ 9.99990494e-01 -1.06006200e-03 4.22938319e-03 -4.84599686e+00] [ 1.05462731e-03 9.99998616e-01 1.28700760e-03 -5.88683780e+00] [-4.23074164e-03 -1.28253494e-03 9.99990228e-01 6.49930711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.991652532 meters 0.1940600968993571 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99992016e-01 -1.06537107e-03 3.85139168e-03 -4.84489708e+00] [ 1.05856776e-03 9.99997877e-01 1.76806261e-03 -5.88923183e+00] [-3.85326715e-03 -1.76397154e-03 9.99991020e-01 6.49783314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.021652532 meters 0.17879637774943336 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99992295e-01 -1.02707125e-03 3.78871827e-03 -4.84464709e+00] [ 1.01976454e-03 9.99997618e-01 1.92997394e-03 -5.88999794e+00] [-3.79069147e-03 -1.92609547e-03 9.99990960e-01 6.49674270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.051652532 meters 0.198325567401968 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99992558e-01 -9.00405126e-04 3.75132962e-03 -4.84464501e+00] [ 8.91868746e-04 9.99997011e-01 2.27661286e-03 -5.89114627e+00] [-3.75336828e-03 -2.27325022e-03 9.99990372e-01 6.49910492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081652532 meters 0.1967504299875435 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.89, Z:0.65 [[ 9.99994799e-01 -9.28198746e-04 3.08861043e-03 -4.84314106e+00] [ 9.18703890e-04 9.99994853e-01 3.07415123e-03 -5.89448984e+00] [-3.09144796e-03 -3.07129772e-03 9.99990505e-01 6.50363412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.111652532 meters 0.19953847966014235 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.90, Z:0.65 [[ 9.99995970e-01 -7.13841410e-04 2.74774243e-03 -4.84252361e+00] [ 7.03209586e-04 9.99992271e-01 3.86831775e-03 -5.89733066e+00] [-2.75048255e-03 -3.86636992e-03 9.99988743e-01 6.50869016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141652532 meters 0.19567160307367054 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.90, Z:0.65 [[ 9.99984852e-01 -4.85171873e-03 2.59928421e-03 -4.84185811e+00] [ 4.85110053e-03 9.99988204e-01 2.44086014e-04 -5.90040241e+00] [-2.60043778e-03 -2.31472928e-04 9.99996592e-01 6.50579934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171652532 meters 0.19532755629503 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.90, Z:0.65 [[ 9.99987394e-01 -4.46664657e-03 2.29364000e-03 -4.84154790e+00] [ 4.46360162e-03 9.99989152e-01 1.33097065e-03 -5.90381810e+00] [-2.29956009e-03 -1.32071597e-03 9.99996484e-01 6.51387059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201652532 meters 0.17641372371071862 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.91, Z:0.65 [[ 9.99986788e-01 -5.02776227e-03 1.07067950e-03 -4.83791222e+00] [ 5.02558679e-03 9.99985321e-01 2.02496243e-03 -5.90892423e+00] [-1.08084482e-03 -2.01955489e-03 9.99997377e-01 6.50501256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231652532 meters 0.18301665264559694 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.91, Z:0.65 [[ 9.99986742e-01 -5.11510481e-03 5.92223902e-04 -4.83639369e+00] [ 5.11362002e-03 9.99983845e-01 2.48209686e-03 -5.91170129e+00] [-6.04910520e-04 -2.47903555e-03 9.99996744e-01 6.50064437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261652532 meters 0.18371485713902233 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.92, Z:0.65 [[ 9.99986438e-01 -5.20810160e-03 -8.06973239e-06 -4.83459487e+00] [ 5.20810112e-03 9.99981454e-01 3.15717838e-03 -5.91554837e+00] [-8.37332305e-06 -3.15717759e-03 9.99995016e-01 6.49693915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291652532 meters 0.17395347789821064 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.92, Z:0.65 [[ 9.99984877e-01 -5.44447515e-03 -7.77330740e-04 -4.83230079e+00] [ 5.44733792e-03 9.99978209e-01 3.72946025e-03 -5.91952895e+00] [ 7.57008847e-04 -3.73363823e-03 9.99992743e-01 6.49125139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321652532 meters 0.1756413174167799 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.92, Z:0.65 [[ 9.99984659e-01 -5.38400123e-03 -1.30155928e-03 -4.83091599e+00] [ 5.38982993e-03 9.99975273e-01 4.51700058e-03 -5.92321563e+00] [ 1.27720756e-03 -4.52394647e-03 9.99988951e-01 6.49114915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351652532 meters 0.19352277555859437 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.93, Z:0.65 [[ 9.99983692e-01 -5.41826690e-03 -1.80515821e-03 -4.82933929e+00] [ 5.42743869e-03 9.99972188e-01 5.11532560e-03 -5.92670603e+00] [ 1.77739181e-03 -5.12503957e-03 9.99985287e-01 6.48704767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381652532 meters 0.16794352974585613 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.93, Z:0.65 [[ 9.99982448e-01 -5.46255607e-03 -2.29436839e-03 -4.82786205e+00] [ 5.47545800e-03 9.99969019e-01 5.65518195e-03 -5.92969637e+00] [ 2.26340556e-03 -5.66764541e-03 9.99981377e-01 6.48396791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411652532 meters 0.17113647105112734 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.93, Z:0.65 [[ 9.99953309e-01 -9.34742232e-03 -2.45071738e-03 -4.82743987e+00] [ 9.35362946e-03 9.99953044e-01 2.53367657e-03 -5.93416100e+00] [ 2.42691896e-03 -2.55648138e-03 9.99993787e-01 6.48625176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441652532 meters 0.16470789819963655 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.94, Z:0.65 [[ 9.99957085e-01 -8.84221875e-03 -2.76479041e-03 -4.82728664e+00] [ 8.85287694e-03 9.99953336e-01 3.86679585e-03 -5.93822348e+00] [ 2.73047034e-03 -3.89110626e-03 9.99988702e-01 6.49799554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471652532 meters 0.17051792154546835 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.94, Z:0.65 [[ 9.99958046e-01 -8.58905420e-03 -3.18348407e-03 -4.82651459e+00] [ 8.60453889e-03 9.99951059e-01 4.88271681e-03 -5.94192302e+00] [ 3.14139035e-03 -4.90990437e-03 9.99983012e-01 6.50370281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501652532 meters 0.15857812355930387 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.95, Z:0.65 [[ 9.99917387e-01 -1.23816179e-02 -3.45179147e-03 -4.82602587e+00] [ 1.23887923e-02 9.99921124e-01 2.06487420e-03 -5.94720025e+00] [ 3.42595272e-03 -2.10746714e-03 9.99991911e-01 6.51076285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531652532 meters 0.16049933045398582 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.95, Z:0.65 [[ 9.99920995e-01 -1.19007208e-02 -4.04691106e-03 -4.82524733e+00] [ 1.19158010e-02 9.99922074e-01 3.72288386e-03 -5.95281300e+00] [ 4.00229070e-03 -3.77081192e-03 9.99984881e-01 6.52421453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561652532 meters 0.15715023097577707 Centerline is valid? [False, False] Translation: X:-4.83, Y:-5.96, Z:0.65 [[ 9.99926471e-01 -1.13057446e-02 -4.38559424e-03 -4.82509869e+00] [ 1.13287039e-02 9.99922066e-01 5.24613595e-03 -5.95765793e+00] [ 4.32594098e-03 -5.29543331e-03 9.99976622e-01 6.53752724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591652532 meters 0.15739085452746943 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.96, Z:0.66 [[ 9.99905972e-01 -6.28353667e-03 -1.21887095e-02 -4.81249257e+00] [ 6.28263082e-03 9.99980258e-01 -1.12607423e-04 -5.96028017e+00] [ 1.21891764e-02 3.60196728e-05 9.99925709e-01 6.58488406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621652532 meters 0.1584246507927532 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.97, Z:0.66 [[ 9.99894661e-01 -6.13165247e-03 -1.31556101e-02 -4.81035578e+00] [ 6.15650078e-03 9.99979339e-01 1.84913386e-03 -5.96775643e+00] [ 1.31440000e-02 -1.92993159e-03 9.99911751e-01 6.59295002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651652532 meters 0.1484109030155043 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.97, Z:0.66 [[ 9.99894230e-01 -5.60650226e-03 -1.34199697e-02 -4.81033872e+00] [ 5.64964569e-03 9.99978987e-01 3.17911910e-03 -5.97181636e+00] [ 1.34018640e-02 -3.25460092e-03 9.99904894e-01 6.60496180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68165253200002 meters 0.14506464329146934 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.98, Z:0.66 [[ 9.99887078e-01 -5.37550178e-03 -1.40333834e-02 -4.80909509e+00] [ 5.43829050e-03 9.99975356e-01 4.43991957e-03 -5.97683728e+00] [ 1.40091708e-02 -4.51573582e-03 9.99891670e-01 6.61147229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71165253200002 meters 0.15263835031674516 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.98, Z:0.66 [[ 9.99857367e-01 -9.41895497e-03 -1.40188698e-02 -4.80906700e+00] [ 9.43167812e-03 9.99955166e-01 8.41735112e-04 -5.97950072e+00] [ 1.40103130e-02 -9.73836520e-04 9.99901377e-01 6.61259143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.741652532 meters 0.13740057915725354 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.99, Z:0.66 [[ 9.99815273e-01 -1.30262176e-02 -1.41328288e-02 -4.80900173e+00] [ 1.30029298e-02 9.99913947e-01 -1.73842252e-03 -5.98570788e+00] [ 1.41542577e-02 1.55433320e-03 9.99898615e-01 6.61965459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.771652532 meters 0.1354172209919539 Centerline is valid? [False, False] Translation: X:-4.81, Y:-5.99, Z:0.65 [[ 9.99878661e-01 -1.53793859e-02 2.47746702e-03 -4.81199925e+00] [ 1.53918653e-02 9.99868535e-01 -5.09940233e-03 -5.98759218e+00] [-2.39871565e-03 5.13691641e-03 9.99983929e-01 6.54950636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801652532 meters 0.17973641897180512 Centerline is valid? [False, False] Translation: X:-4.70, Y:-5.98, Z:0.66 [[ 9.99862871e-01 -1.65232315e-02 -1.10519485e-03 -4.69977609e+00] [ 1.65182822e-02 9.99854115e-01 -4.34676507e-03 -5.97782196e+00] [ 1.17685622e-03 4.32791308e-03 9.99989942e-01 6.55629728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831652532 meters 0.13010083015131477 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.00, Z:0.66 [[ 0.99981121 -0.01709084 -0.00924414 -4.78482214] [ 0.01701903 0.99982481 -0.00779158 -5.99514934] [ 0.00937569 0.00763278 0.99992692 0.66403562] [ 0. 0. 0. 1. ]] SLAMing on 139.861652532 meters 0.1286624294156071 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.00, Z:0.66 [[ 0.99972491 -0.02112378 -0.01019272 -4.78256826] [ 0.021026 0.99973278 -0.00960631 -6.00414252] [ 0.01039292 0.00938936 0.99990191 0.66497578] [ 0. 0. 0. 1. ]] SLAMing on 139.891652532 meters 0.1251934491853316 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.01, Z:0.67 [[ 9.99792963e-01 -1.66637116e-02 -1.16769573e-02 -4.78006240e+00] [ 1.66310764e-02 9.99857528e-01 -2.88639617e-03 -6.01292627e+00] [ 1.17233918e-02 2.69159821e-03 9.99927656e-01 6.67202156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921652532 meters 0.12357224671786722 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.02, Z:0.67 [[ 9.99792047e-01 -1.64079738e-02 -1.21095161e-02 -4.77903164e+00] [ 1.63881019e-02 9.99864195e-01 -1.73842877e-03 -6.01740431e+00] [ 1.21363957e-02 1.53961527e-03 9.99925166e-01 6.67456822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951652532 meters 0.11894113149157555 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.03, Z:0.67 [[ 9.99703500e-01 -2.06262862e-02 -1.29409757e-02 -4.77657368e+00] [ 2.05774514e-02 9.99780673e-01 -3.89553931e-03 -6.02590695e+00] [ 1.30184879e-02 3.62809198e-03 9.99908674e-01 6.67586113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981652532 meters 0.11537079354048957 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.03, Z:0.67 [[ 9.99702090e-01 -2.02323839e-02 -1.36521822e-02 -4.77532412e+00] [ 2.02074765e-02 9.99793887e-01 -1.95992463e-03 -6.03295209e+00] [ 1.36890223e-02 1.68346459e-03 9.99904884e-01 6.68783666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011652532 meters 0.1132987730336512 Centerline is valid? [False, False] Translation: X:-4.78, Y:-6.04, Z:0.66 [[ 9.99724741e-01 -2.33088714e-02 2.67189701e-03 -4.77714896e+00] [ 2.33224916e-02 9.99714547e-01 -5.18509375e-03 -6.03692098e+00] [-2.55027562e-03 5.24598180e-03 9.99982988e-01 6.60500246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041652532 meters 0.10819654458407457 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.05, Z:0.66 [[ 9.99627031e-01 -2.72559472e-02 1.70642064e-03 -4.77463909e+00] [ 2.72662038e-02 9.99608309e-01 -6.30743001e-03 -6.04824534e+00] [-1.53383727e-03 6.35160515e-03 9.99978652e-01 6.61728733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071652532 meters 0.10819654458407457 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.05, Z:0.66 [[ 9.99627031e-01 -2.72559472e-02 1.70642064e-03 -4.77463909e+00] [ 2.72662038e-02 9.99608309e-01 -6.30743001e-03 -6.04824534e+00] [-1.53383727e-03 6.35160515e-03 9.99978652e-01 6.61728733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101652532 meters 0.10599439014404648 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.05, Z:0.66 [[ 9.99635869e-01 -2.69642568e-02 1.02884633e-03 -4.77329494e+00] [ 2.69685629e-02 9.99626465e-01 -4.43035514e-03 -6.05498256e+00] [-9.09000785e-04 4.45648842e-03 9.99989657e-01 6.62805743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131652532 meters 0.10743407123498913 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.06, Z:0.66 [[ 9.99644468e-01 -2.66603582e-02 4.03458564e-04 -4.77197109e+00] [ 2.66613277e-02 9.99641073e-01 -2.62668757e-03 -6.06187933e+00] [-3.33285321e-04 2.63651044e-03 9.99996469e-01 6.63570666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161652532 meters 0.1059294444146472 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.07, Z:0.66 [[ 9.99653031e-01 -2.63394788e-02 -2.21677239e-04 -4.77061919e+00] [ 2.63393177e-02 9.99652814e-01 -7.01029207e-04 -6.06921231e+00] [ 2.40065020e-04 6.94947144e-04 9.99999730e-01 6.64417118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191652532 meters 0.10162844903306668 Centerline is valid? [False, False] Translation: X:-4.77, Y:-6.08, Z:0.66 [[ 9.99539975e-01 -3.02945627e-02 -1.44170942e-03 -4.76587962e+00] [ 3.02909617e-02 9.99538103e-01 -2.45723346e-03 -6.08110670e+00] [ 1.51548431e-03 2.41243231e-03 9.99995942e-01 6.61890785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221652532 meters 0.09999566889362874 Centerline is valid? [False, True] Translation: X:-4.76, Y:-6.09, Z:0.66 [[ 9.99475421e-01 -3.22614963e-02 -2.84212752e-03 -4.76040177e+00] [ 3.22513269e-02 9.99473472e-01 -3.55407857e-03 -6.08723450e+00] [ 2.95529095e-03 3.46055180e-03 9.99989645e-01 6.58236100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251652532 meters 0.09889667803522541 Centerline is valid? [True, True] Translation: X:-4.73, Y:-6.10, Z:0.66 [[ 9.99231498e-01 -3.88478994e-02 -5.22049603e-03 -4.73000342e+00] [ 3.88465420e-02 9.99245123e-01 -3.61200785e-04 -6.09980551e+00] [ 5.23058709e-03 1.58124983e-04 9.99986308e-01 6.57276942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281652532 meters 0.09902292686520296 Centerline is valid? [True, True] Translation: X:-4.70, Y:-6.12, Z:0.64 [[ 9.98700580e-01 -5.03190589e-02 -8.07120296e-03 -4.70100570e+00] [ 5.03162962e-02 9.98733184e-01 -5.45123429e-04 -6.11711635e+00] [ 8.08840833e-03 1.38302046e-04 9.99967279e-01 6.44709078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311652532 meters 0.09779169349828994 Centerline is valid? [True, True] Translation: X:-4.67, Y:-6.13, Z:0.65 [[ 9.98410340e-01 -5.55451942e-02 -9.56681519e-03 -4.67095649e+00] [ 5.55414559e-02 9.98456166e-01 -6.56202666e-04 -6.12611649e+00] [ 9.58849452e-03 1.23804684e-04 9.99954022e-01 6.45570416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341652532 meters 0.09864519132323354 Centerline is valid? [True, True] Translation: X:-4.64, Y:-6.14, Z:0.64 [[ 9.97876852e-01 -6.36814470e-02 -1.36551179e-02 -4.64146675e+00] [ 6.36747972e-02 9.97970276e-01 -9.21635448e-04 -6.14033552e+00] [ 1.36860928e-02 5.01918197e-05 9.99906340e-01 6.36586710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371652532 meters 0.09904076168602027 Centerline is valid? [True, True] Translation: X:-4.61, Y:-6.15, Z:0.63 [[ 9.97658712e-01 -6.66407023e-02 -1.53658909e-02 -4.61269002e+00] [ 6.66325917e-02 9.97777038e-01 -1.03976392e-03 -6.14520292e+00] [ 1.54010237e-02 1.34604012e-05 9.99881397e-01 6.31930467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401652532 meters 0.10061955675651614 Centerline is valid? [True, False] Translation: X:-4.60, Y:-6.15, Z:0.63 [[ 9.97598408e-01 -6.53314370e-02 -2.30047695e-02 -4.59963030e+00] [ 6.52510283e-02 9.97859917e-01 -4.22957065e-03 -6.14755676e+00] [ 2.32318613e-02 2.71832808e-03 9.99726408e-01 6.34931752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43165253200002 meters 0.09985875536269664 Centerline is valid? [False, True] Translation: X:-4.59, Y:-6.15, Z:0.64 [[ 0.99794906 -0.05754545 -0.02803916 -4.5911011 ] [ 0.05722963 0.99828965 -0.01193953 -6.14630609] [ 0.02867827 0.01031037 0.99953552 0.63716392] [ 0. 0. 0. 1. ]] SLAMing on 140.46165253200002 meters 0.09999488012654874 Centerline is valid? [True, True] Translation: X:-4.56, Y:-6.15, Z:0.64 [[ 9.97953211e-01 -5.62751519e-02 -3.03726252e-02 -4.56105779e+00] [ 5.62480652e-02 9.98415297e-01 -1.74615327e-03 -6.14868545e+00] [ 3.04227587e-02 3.41778613e-05 9.99537120e-01 6.42573150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.491652532 meters 0.10040833355028522 Centerline is valid? [True, False] Translation: X:-4.54, Y:-6.14, Z:0.64 [[ 9.98021451e-01 -4.85958103e-02 -3.98952551e-02 -4.54382604e+00] [ 4.84006280e-02 9.98810905e-01 -5.84431140e-03 -6.14487901e+00] [ 4.01318249e-02 3.90179274e-03 9.99186776e-01 6.41481643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.521652532 meters 0.10115090441049424 Centerline is valid? [False, False] Translation: X:-4.55, Y:-6.14, Z:0.63 [[ 9.98426200e-01 -5.13089217e-02 -2.26388713e-02 -4.54938472e+00] [ 5.13209975e-02 9.98682208e-01 -4.76519567e-05 -6.14272297e+00] [ 2.26114829e-02 -1.11427249e-03 9.99743707e-01 6.31852965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551652532 meters 0.10058630559203013 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.14, Z:0.63 [[ 9.98456671e-01 -4.56790503e-02 -3.15863935e-02 -4.53393854e+00] [ 4.56924556e-02 9.98955510e-01 -2.97657861e-04 -6.14185902e+00] [ 3.15669986e-02 -1.14606140e-03 9.99500981e-01 6.34864985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581652532 meters 0.1012120301532886 Centerline is valid? [False, False] Translation: X:-4.54, Y:-6.14, Z:0.62 [[ 9.98929919e-01 -4.39303702e-02 -1.44616587e-02 -4.53683050e+00] [ 4.38459513e-02 9.99019658e-01 -6.10378532e-03 -6.13672348e+00] [ 1.47156228e-02 5.46316859e-03 9.99876795e-01 6.18780874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611652532 meters 0.10118056926947498 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.14, Z:0.62 [[ 9.99161897e-01 -3.23426124e-02 -2.50890160e-02 -4.51855423e+00] [ 3.22270099e-02 9.99468076e-01 -4.99853294e-03 -6.13590969e+00] [ 2.52373362e-02 4.18579969e-03 9.99672724e-01 6.21431313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641652532 meters 0.10350225448208915 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.13, Z:0.61 [[ 0.99955943 -0.02846277 -0.00841486 -4.52208375] [ 0.02840058 0.99956908 -0.00742001 -6.13324946] [ 0.00862243 0.00717775 0.99993706 0.61199312] [ 0. 0. 0. 1. ]] SLAMing on 140.671652532 meters 0.10543048439631426 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.13, Z:0.61 [[ 9.99760528e-01 -1.99669489e-02 -8.95585589e-03 -4.52140178e+00] [ 1.99777457e-02 9.99799800e-01 1.11771932e-03 -6.13267815e+00] [ 8.93174549e-03 -1.29636947e-03 9.99959271e-01 6.12367323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701652532 meters 0.10168613170458023 Centerline is valid? [False, False] Translation: X:-4.51, Y:-6.13, Z:0.62 [[ 9.99794989e-01 -1.02443209e-02 -1.74652358e-02 -4.50838879e+00] [ 1.02299487e-02 9.99947257e-01 -9.12048475e-04 -6.13057506e+00] [ 1.74736579e-02 7.33193028e-04 9.99847055e-01 6.16742138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731652532 meters 0.10526653239122227 Centerline is valid? [False, False] Translation: X:-4.51, Y:-6.13, Z:0.61 [[ 9.99973717e-01 -7.25004037e-03 3.99939660e-05 -4.51356024e+00] [ 7.25013213e-03 9.99968422e-01 -3.25438309e-03 -6.12541251e+00] [-1.63982943e-05 3.25458752e-03 9.99994704e-01 6.07254151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761652532 meters 0.10558153341537332 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.12, Z:0.61 [[ 9.99974194e-01 -7.15515236e-03 6.43928299e-04 -4.51531640e+00] [ 7.15771168e-03 9.99966125e-01 -4.06411016e-03 -6.12153195e+00] [-6.14827158e-04 4.06861433e-03 9.99991534e-01 6.07147067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791652532 meters 0.10659388131669206 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.12, Z:0.61 [[ 9.99996198e-01 -2.68753105e-03 6.16694429e-04 -4.51591597e+00] [ 2.68726771e-03 9.99996298e-01 4.27446234e-04 -6.12105179e+00] [-6.17840921e-04 -4.25787386e-04 9.99999718e-01 6.08192539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821652532 meters 0.1079604093967985 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.11, Z:0.61 [[ 9.99997819e-01 1.61102369e-03 1.32883398e-03 -4.51808149e+00] [-1.61530487e-03 9.99993489e-01 3.22700021e-03 -6.11424571e+00] [-1.32362655e-03 -3.22913964e-03 9.99993910e-01 6.08204300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851652532 meters 0.11240230962603696 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.11, Z:0.61 [[ 9.99997718e-01 1.26034300e-03 1.72481498e-03 -4.51864775e+00] [-1.26332269e-03 9.99997710e-01 1.72754905e-03 -6.10921595e+00] [-1.72263373e-03 -1.72972411e-03 9.99997020e-01 6.06958264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881652532 meters 0.11226197235563642 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.10, Z:0.61 [[ 9.99995698e-01 1.51333518e-03 2.51278085e-03 -4.52104253e+00] [-1.51561631e-03 9.99998441e-01 9.06153366e-04 -6.10443158e+00] [-2.51140562e-03 -9.09957879e-04 9.99996432e-01 6.07306998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911652532 meters 0.11355101739153031 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.10, Z:0.61 [[ 9.99991268e-01 1.72741141e-03 3.80521058e-03 -4.52436605e+00] [-1.72420211e-03 9.99998155e-01 -8.46514937e-04 -6.09547251e+00] [-3.80666584e-03 8.39946593e-04 9.99992402e-01 6.07074676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941652532 meters 0.11554724041033568 Centerline is valid? [False, False] Translation: X:-4.52, Y:-6.09, Z:0.61 [[ 9.99990096e-01 1.38870210e-03 4.22842681e-03 -4.52494413e+00] [-1.37931085e-03 9.99996578e-01 -2.22308829e-03 -6.09095420e+00] [-4.23149955e-03 2.21723396e-03 9.99988589e-01 6.05854810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971652532 meters 0.11314748259750498 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.09, Z:0.61 [[ 9.99987284e-01 1.54274826e-03 4.80117279e-03 -4.52671495e+00] [-1.52921797e-03 9.99994853e-01 -2.82051716e-03 -6.08764567e+00] [-4.80549943e-03 2.81313926e-03 9.99984497e-01 6.06119001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001652532 meters 0.1223085707503597 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.08, Z:0.61 [[ 9.99967858e-01 5.79106289e-03 5.54494255e-03 -4.52878769e+00] [-5.79067327e-03 9.99983230e-01 -8.63189800e-05 -6.08062899e+00] [-5.54534944e-03 5.42072550e-05 9.99984623e-01 6.06159617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031652532 meters 0.12224993349097261 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.08, Z:0.61 [[ 9.99968837e-01 5.40947772e-03 5.74993708e-03 -4.52894525e+00] [-5.40278063e-03 9.99984709e-01 -1.17961945e-03 -6.07697295e+00] [-5.75623028e-03 1.14851704e-03 9.99982773e-01 6.05339843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061652532 meters 0.1234860131111392 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.07, Z:0.60 [[ 9.99968122e-01 5.15003745e-03 6.10184826e-03 -4.52958945e+00] [-5.13613993e-03 9.99984185e-01 -2.29107595e-03 -6.07312324e+00] [-6.11355089e-03 2.25966297e-03 9.99978759e-01 6.04620350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091652532 meters 0.12491440168307032 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.07, Z:0.60 [[ 9.99964347e-01 5.13743408e-03 6.70157093e-03 -4.53107822e+00] [-5.11585785e-03 9.99981688e-01 -3.23275655e-03 -6.06919150e+00] [-6.71805629e-03 3.19835701e-03 9.99972319e-01 6.04398122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121652532 meters 0.13749191174440414 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.06, Z:0.60 [[ 9.99932312e-01 9.21850103e-03 7.09859600e-03 -4.53225477e+00] [-9.21837834e-03 9.99957509e-01 -5.00036579e-05 -6.06430873e+00] [-7.09875533e-03 -1.54372704e-05 9.99974803e-01 6.04598117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151652532 meters 0.12529909021924085 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.06, Z:0.60 [[ 9.99932971e-01 8.86273523e-03 7.45016400e-03 -4.53277626e+00] [-8.85389502e-03 9.99960061e-01 -1.21872579e-03 -6.06035585e+00] [-7.46066769e-03 1.15268113e-03 9.99971504e-01 6.03750733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18165253200002 meters 0.14256109035816103 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.06, Z:0.60 [[ 9.99930239e-01 8.84340914e-03 7.83017240e-03 -4.53399789e+00] [-8.82936179e-03 9.99959352e-01 -1.82675792e-03 -6.05731579e+00] [-7.84600889e-03 1.75749506e-03 9.99967675e-01 6.04054789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21165253200002 meters 0.14429013691164924 Centerline is valid? [False, False] Translation: X:-4.54, Y:-6.05, Z:0.60 [[ 9.99922502e-01 8.91344312e-03 8.69144540e-03 -4.53654283e+00] [-8.88667882e-03 9.99955667e-01 -3.11315738e-03 -6.05101161e+00] [-8.71880903e-03 3.03567803e-03 9.99957383e-01 6.04719630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.241652532 meters 0.13854212980005606 Centerline is valid? [False, False] Translation: X:-4.54, Y:-6.05, Z:0.60 [[ 9.99916116e-01 8.94239061e-03 9.36988838e-03 -4.53836615e+00] [-8.90436116e-03 9.99951980e-01 -4.09257525e-03 -6.04663511e+00] [-9.40603585e-03 4.00879908e-03 9.99947727e-01 6.04877569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.271652532 meters 0.14615654731128372 Centerline is valid? [False, False] Translation: X:-4.54, Y:-6.04, Z:0.61 [[ 9.99912625e-01 8.89042546e-03 9.78277996e-03 -4.53966110e+00] [-8.84369066e-03 9.99949324e-01 -4.81018518e-03 -6.04316125e+00] [-9.82504880e-03 4.72324901e-03 9.99940578e-01 6.05201443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301652532 meters 0.12962162245242886 Centerline is valid? [False, False] Translation: X:-4.54, Y:-6.04, Z:0.61 [[ 9.99906620e-01 8.95423099e-03 1.03233864e-02 -4.54138493e+00] [-8.89801318e-03 9.99945403e-01 -5.47880540e-03 -6.03948273e+00] [-1.03718812e-02 5.38643616e-03 9.99931703e-01 6.05714759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331652532 meters 0.13190866005972485 Centerline is valid? [False, False] Translation: X:-4.56, Y:-6.04, Z:0.61 [[ 9.99918955e-01 1.06185443e-02 7.02359600e-03 -4.56237049e+00] [-1.06603590e-02 9.99925516e-01 5.94306111e-03 -6.03915839e+00] [-6.95996619e-03 -6.01745351e-03 9.99957674e-01 6.13240371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361652532 meters 0.13549434895234364 Centerline is valid? [False, False] Translation: X:-4.57, Y:-6.03, Z:0.61 [[ 9.99943182e-01 6.57140119e-03 8.39344609e-03 -4.56543973e+00] [-6.57077011e-03 9.99978407e-01 -1.02762025e-04 -6.03179414e+00] [-8.39394014e-03 4.76047811e-05 9.99964769e-01 6.12454042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391652532 meters 0.13721308202515603 Centerline is valid? [False, False] Translation: X:-4.57, Y:-6.03, Z:0.61 [[ 9.99940145e-01 6.42427058e-03 8.85637779e-03 -4.56657565e+00] [-6.41520795e-03 9.99978870e-01 -1.05131816e-03 -6.02804685e+00] [-8.86294461e-03 9.94439732e-04 9.99960229e-01 6.12317537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421652532 meters 0.14224173328551623 Centerline is valid? [False, False] Translation: X:-4.58, Y:-6.02, Z:0.61 [[ 9.99840224e-01 1.38160377e-02 1.13421278e-02 -4.58286085e+00] [-1.37915216e-02 9.99902390e-01 -2.23688805e-03 -6.02268358e+00] [-1.13719256e-02 2.08010545e-03 9.99933174e-01 6.10934086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451652532 meters 0.15317566821498962 Centerline is valid? [False, False] Translation: X:-4.58, Y:-6.02, Z:0.61 [[ 9.99837367e-01 1.35516187e-02 1.18993304e-02 -4.58394113e+00] [-1.35096815e-02 9.99902268e-01 -3.59766790e-03 -6.01783160e+00] [-1.19469217e-02 3.43632664e-03 9.99922728e-01 6.10245347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481652532 meters 0.15383352817838683 Centerline is valid? [False, False] Translation: X:-4.60, Y:-6.02, Z:0.61 [[ 9.99879258e-01 1.34629030e-02 7.76010569e-03 -4.60250113e+00] [-1.35037343e-02 9.99895124e-01 5.23353510e-03 -6.01781076e+00] [-7.68883327e-03 -5.33769360e-03 9.99956194e-01 6.14194356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511652532 meters 0.1623404781155665 Centerline is valid? [False, False] Translation: X:-4.60, Y:-6.01, Z:0.61 [[ 9.99877632e-01 1.32431979e-02 8.32703002e-03 -4.60356962e+00] [-1.32770658e-02 9.99903754e-01 4.02517203e-03 -6.01363059e+00] [-8.27292243e-03 -4.13523800e-03 9.99957228e-01 6.13449010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541652532 meters 0.1665052141450505 Centerline is valid? [False, False] Translation: X:-4.61, Y:-6.00, Z:0.61 [[ 9.99863813e-01 1.33375507e-02 9.71927200e-03 -4.60665524e+00] [-1.33532065e-02 9.99909644e-01 1.54768854e-03 -6.00485032e+00] [-9.69775144e-03 -1.67726121e-03 9.99951569e-01 6.12168840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571652532 meters 0.15822864797244837 Centerline is valid? [False, False] Translation: X:-4.61, Y:-6.00, Z:0.61 [[ 9.99857305e-01 1.33366660e-02 1.03683583e-02 -4.60836392e+00] [-1.33440096e-02 9.99910760e-01 6.39411210e-04 -6.00081408e+00] [-1.03589055e-02 -7.77675443e-04 9.99946043e-01 6.12350431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601652532 meters 0.16336970252698382 Centerline is valid? [False, False] Translation: X:-4.61, Y:-6.00, Z:0.61 [[ 9.99853989e-01 1.32286219e-02 1.08168062e-02 -4.60954288e+00] [-1.32279902e-02 9.99912498e-01 -1.29950005e-04 -5.99768835e+00] [-1.08175787e-02 -1.31535742e-05 9.99941488e-01 6.12422246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631652532 meters 0.16746735916557476 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.99, Z:0.61 [[ 9.99849611e-01 1.31644269e-02 1.12894904e-02 -4.61080578e+00] [-1.31552841e-02 9.99913075e-01 -8.83731321e-04 -5.99451589e+00] [-1.13001429e-02 7.35081965e-04 9.99935881e-01 6.12597079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661652532 meters 0.17123802832705265 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.99, Z:0.61 [[ 9.99824424e-01 1.37397060e-02 1.27413173e-02 -4.61483042e+00] [-1.37164336e-02 9.99904097e-01 -1.91212718e-03 -5.98759317e+00] [-1.27663674e-02 1.73702602e-03 9.99916998e-01 6.14038685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691652532 meters 0.1644306571462119 Centerline is valid? [False, False] Translation: X:-4.61, Y:-5.99, Z:0.63 [[ 9.99863055e-01 1.61752292e-02 -3.49761647e-03 -4.61343532e+00] [-1.61592835e-02 9.99859122e-01 4.54021551e-03 -5.98975207e+00] [ 3.57056276e-03 -4.48307477e-03 9.99983576e-01 6.25373697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721652532 meters 0.1731913729169643 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.99, Z:0.63 [[ 9.99860958e-01 1.64664852e-02 -2.63037848e-03 -4.61601438e+00] [-1.64559423e-02 9.99856668e-01 3.98070447e-03 -5.98615196e+00] [ 2.69554967e-03 -3.93686563e-03 9.99988617e-01 6.26276899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751652532 meters 0.1760647223711416 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.98, Z:0.63 [[ 9.99840835e-01 1.78356490e-02 -4.41715188e-04 -4.62160453e+00] [-1.78345366e-02 9.99838058e-01 2.40570023e-03 -5.97823874e+00] [ 4.84550881e-04 -2.39743954e-03 9.99997009e-01 6.26099949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781652532 meters 0.1797086109812799 Centerline is valid? [False, False] Translation: X:-4.62, Y:-5.97, Z:0.63 [[ 9.99905243e-01 1.37497403e-02 6.71185144e-04 -4.62435587e+00] [-1.37477723e-02 9.99901423e-01 -2.85365774e-03 -5.97357972e+00] [-7.10356033e-04 2.84416003e-03 9.99995703e-01 6.26050540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811652532 meters 0.17892755143609643 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.97, Z:0.62 [[ 9.99929077e-01 8.73975841e-03 8.09052595e-03 -4.63786165e+00] [-8.76466938e-03 9.99956942e-01 3.04871055e-03 -5.97306941e+00] [-8.06353259e-03 -3.11940512e-03 9.99962624e-01 6.22674588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841652532 meters 0.18011080136717494 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.97, Z:0.62 [[ 9.99919561e-01 8.90077039e-03 9.03590525e-03 -4.64043627e+00] [-8.91940086e-03 9.99958174e-01 2.02362469e-03 -5.96841706e+00] [-9.01751550e-03 -2.10405677e-03 9.99957128e-01 6.23168921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871652532 meters 0.20135977294354726 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.96, Z:0.62 [[ 9.99913873e-01 8.83835731e-03 9.70208926e-03 -4.64198229e+00] [-8.85007349e-03 9.99960158e-01 1.16532467e-03 -5.96499217e+00] [-9.69140316e-03 -1.25108851e-03 9.99952255e-01 6.23047815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901652532 meters 0.2083877305358985 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.96, Z:0.62 [[ 9.99911180e-01 8.67612789e-03 1.01171614e-02 -4.64286226e+00] [-8.68101260e-03 9.99962223e-01 4.38998470e-04 -5.96244077e+00] [-1.01129704e-02 -5.26786684e-04 9.99948724e-01 6.22744563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93165253200002 meters 0.17822374289520843 Centerline is valid? [False, False] Translation: X:-4.64, Y:-5.96, Z:0.62 [[ 9.99909319e-01 8.51312523e-03 1.04346038e-02 -4.64367504e+00] [-8.51139728e-03 9.99963755e-01 -2.09995769e-04 -5.95998551e+00] [-1.04360134e-02 1.21163667e-04 9.99945536e-01 6.22728188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96165253200002 meters 0.17904524393256874 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.96, Z:0.63 [[ 9.99888542e-01 9.45397426e-03 1.15553333e-02 -4.64808078e+00] [-9.45526646e-03 9.99955296e-01 5.71998667e-05 -5.95699050e+00] [-1.15542759e-02 -1.66452247e-04 9.99933233e-01 6.25989979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.991652532 meters 0.17904524393256874 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.96, Z:0.63 [[ 9.99888542e-01 9.45397426e-03 1.15553333e-02 -4.64808078e+00] [-9.45526646e-03 9.99955296e-01 5.71998667e-05 -5.95699050e+00] [-1.15542759e-02 -1.66452247e-04 9.99933233e-01 6.25989979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.021652532 meters 0.1979810681358728 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.96, Z:0.63 [[ 9.99879750e-01 9.73125820e-03 1.20743138e-02 -4.65007432e+00] [-9.73185620e-03 9.99952644e-01 -9.22885834e-06 -5.95526508e+00] [-1.20738318e-02 -1.08277737e-04 9.99927103e-01 6.27255621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051652532 meters 0.17823943021533029 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.95, Z:0.63 [[ 9.99876724e-01 9.79601578e-03 1.22708924e-02 -4.65100599e+00] [-9.79563613e-03 9.99952017e-01 -9.10430644e-05 -5.95427324e+00] [-1.22711954e-02 -2.91693557e-05 9.99924706e-01 6.28026933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081652532 meters 0.19342236939309293 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.95, Z:0.63 [[ 9.99871487e-01 9.90769049e-03 1.26034448e-02 -4.65265033e+00] [-9.90412809e-03 9.99950893e-01 -3.45038325e-04 -5.95181997e+00] [-1.26062444e-02 2.20167851e-04 9.99920514e-01 6.29437147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111652532 meters 0.17599210865998172 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.95, Z:0.63 [[ 9.99868455e-01 9.80811816e-03 1.29179356e-02 -4.65348604e+00] [-9.79782161e-03 9.99951630e-01 -8.60121537e-04 -5.94974467e+00] [-1.29257470e-02 7.33440764e-04 9.99916190e-01 6.29548447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141652532 meters 0.19792211381636346 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.95, Z:0.63 [[ 9.99861978e-01 9.92761028e-03 1.33217121e-02 -4.65485109e+00] [-9.91493087e-03 9.99950328e-01 -1.01749418e-03 -5.94843646e+00] [-1.33311517e-02 8.85269892e-04 9.99910744e-01 6.30248176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171652532 meters 0.20375158428482887 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.63 [[ 9.99854319e-01 1.01548132e-02 1.37193784e-02 -4.65637658e+00] [-1.01424906e-02 9.99948096e-01 -9.67470288e-04 -5.94759360e+00] [-1.37284908e-02 8.28180679e-04 9.99905417e-01 6.31289094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201652532 meters 0.20131099576135564 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.64 [[ 9.99945373e-01 1.03900705e-02 -1.13932812e-03 -4.65894898e+00] [-1.03873945e-02 9.99943335e-01 2.33003613e-03 -5.95076914e+00] [ 1.16347280e-03 -2.31807420e-03 9.99996636e-01 6.42488915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231652532 meters 0.19954105349166065 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.64 [[ 9.99981396e-01 6.06991565e-03 -6.02774197e-04 -4.66026866e+00] [-6.07134167e-03 9.99978706e-01 -2.39280052e-03 -5.94891139e+00] [ 5.88237265e-04 2.39641565e-03 9.99996956e-01 6.42415823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261652532 meters 0.18527223173695567 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.64 [[ 9.99981045e-01 6.10958371e-03 -7.63290904e-04 -4.65991874e+00] [-6.11124070e-03 9.99978933e-01 -2.18770495e-03 -5.94972771e+00] [ 7.49908857e-04 2.19232814e-03 9.99997316e-01 6.42557384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291652532 meters 0.19182921197600528 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.64 [[ 9.99980600e-01 6.16807516e-03 -8.69128122e-04 -4.65958550e+00] [-6.16974423e-03 9.99979103e-01 -1.93097406e-03 -5.95089264e+00] [ 8.57199566e-04 1.93629889e-03 9.99997758e-01 6.42529714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321652532 meters 0.18789066359900924 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.95, Z:0.64 [[ 9.99996786e-01 2.35844455e-03 -9.30497316e-04 -4.65976219e+00] [-2.36317068e-03 9.99984146e-01 -5.11116455e-03 -5.95450372e+00] [ 9.18428165e-04 5.11334704e-03 9.99986505e-01 6.43171610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351652532 meters 0.1893928300010503 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.96, Z:0.64 [[ 9.99994951e-01 2.84410216e-03 -1.41710055e-03 -4.65913014e+00] [-2.84926630e-03 9.99989259e-01 -3.65556468e-03 -5.95918649e+00] [ 1.40668853e-03 3.65958393e-03 9.99992314e-01 6.44324876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381652532 meters 0.1893926835673173 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.96, Z:0.64 [[ 9.99993443e-01 3.04271511e-03 -1.96384127e-03 -4.65794673e+00] [-3.04787158e-03 9.99991902e-01 -2.62808088e-03 -5.96307791e+00] [ 1.95582887e-03 2.63404918e-03 9.99994618e-01 6.44799200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411652532 meters 0.17874549172590307 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.97, Z:0.65 [[ 9.99996281e-01 -1.01355486e-03 -2.53198896e-03 -4.65659471e+00] [ 9.99726132e-04 9.99984611e-01 -5.45691621e-03 -5.96850158e+00] [ 2.53748088e-03 5.45436462e-03 9.99981905e-01 6.45249348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441652532 meters 0.1768224110738524 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.97, Z:0.65 [[ 9.99994992e-01 -6.20886160e-04 -3.10332578e-03 -4.65565292e+00] [ 6.08453435e-04 9.99991792e-01 -4.00559833e-03 -5.97339339e+00] [ 3.10578733e-03 4.00369004e-03 9.99987162e-01 6.46219325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471652532 meters 0.1634067444352687 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.98, Z:0.65 [[ 9.99979552e-01 -4.51913712e-03 -4.52472122e-03 -4.65320979e+00] [ 4.50069794e-03 9.99981560e-01 -4.07713174e-03 -5.98442564e+00] [ 4.54306291e-03 4.05668397e-03 9.99981452e-01 6.50489983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501652532 meters 0.16119022049266693 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.99, Z:0.65 [[ 9.99976871e-01 -4.34416524e-03 -5.23308351e-03 -4.65163795e+00] [ 4.32939018e-03 9.99986620e-01 -2.83142226e-03 -5.98938661e+00] [ 5.24531365e-03 2.80870071e-03 9.99982299e-01 6.50810652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531652532 meters 0.15888364756674153 Centerline is valid? [False, False] Translation: X:-4.65, Y:-5.99, Z:0.65 [[ 9.99974428e-01 -4.15640962e-03 -5.81967011e-03 -4.65032459e+00] [ 4.14677019e-03 9.99990012e-01 -1.66744130e-03 -5.99373801e+00] [ 5.82654255e-03 1.64326583e-03 9.99981675e-01 6.51091866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561652532 meters 0.15845905556774253 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99971801e-01 -3.99491818e-03 -6.35908740e-03 -4.64906426e+00] [ 3.99092974e-03 9.99991832e-01 -6.39768924e-04 -5.99767037e+00] [ 6.36159128e-03 6.14372212e-04 9.99979576e-01 6.51203869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591652532 meters 0.15014294004104284 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99967412e-01 -4.03867051e-03 -6.99028684e-03 -4.64719867e+00] [ 4.04011835e-03 9.99991820e-01 1.93014032e-04 -6.00183196e+00] [ 6.98945014e-03 -2.21249328e-04 9.99975549e-01 6.50768754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621652532 meters 0.1478979005755483 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99933368e-01 -8.42602869e-03 -7.89060105e-03 -4.64449181e+00] [ 8.40583071e-03 9.99961318e-01 -2.58942730e-03 -6.00843987e+00] [ 7.91211442e-03 2.52292770e-03 9.99965516e-01 6.50176789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651652532 meters 0.15533855733957022 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99930563e-01 -8.19675866e-03 -8.46652562e-03 -4.64334272e+00] [ 8.18584360e-03 9.99965620e-01 -1.32305306e-03 -6.01290424e+00] [ 8.47707929e-03 1.25365553e-03 9.99963283e-01 6.50662566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68165253200002 meters 0.1429452684570004 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99927974e-01 -8.02173603e-03 -8.92741919e-03 -4.64234068e+00] [ 8.01931506e-03 9.99967798e-01 -3.06947559e-04 -6.01652764e+00] [ 8.92959396e-03 2.35333663e-04 9.99960103e-01 6.50965253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71165253200002 meters 0.14930636368606662 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99913855e-01 -8.23489885e-03 -1.02209936e-02 -4.63928125e+00] [ 8.25182708e-03 9.99964649e-01 1.61515561e-03 -6.02384047e+00] [ 1.02073316e-02 -1.69935834e-03 9.99946460e-01 6.51768029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.741652532 meters 0.14496925206592318 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99913361e-01 -7.85766971e-03 -1.05606143e-02 -4.63891435e+00] [ 7.88764106e-03 9.99964974e-01 2.79938245e-03 -6.02754977e+00] [ 1.05382477e-02 -2.88243825e-03 9.99940317e-01 6.52699036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.771652532 meters 0.13607321752746998 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99913939e-01 -7.53191260e-03 -1.07417152e-02 -4.63885363e+00] [ 7.57139076e-03 9.99964714e-01 3.63930032e-03 -6.03002553e+00] [ 1.07139253e-02 -3.72031684e-03 9.99935683e-01 6.53434317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801652532 meters 0.13563481570019412 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99915536e-01 -7.24381798e-03 -1.07911441e-02 -4.63907873e+00] [ 7.28977408e-03 9.99964502e-01 4.22545672e-03 -6.03161566e+00] [ 1.07601526e-02 -4.30376482e-03 9.99932846e-01 6.54045715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831652532 meters 0.13977698526833815 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99919415e-01 -6.90253173e-03 -1.06545502e-02 -4.63987768e+00] [ 6.95295844e-03 9.99964768e-01 4.70311682e-03 -6.03256465e+00] [ 1.06217114e-02 -4.77681846e-03 9.99932178e-01 6.54790667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861652532 meters 0.1376232688308666 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.66 [[ 9.99925316e-01 -6.41302744e-03 -1.04036732e-02 -4.64130936e+00] [ 6.46849758e-03 9.99964997e-01 5.30692505e-03 -6.03340975e+00] [ 1.03692755e-02 -5.37382484e-03 9.99931798e-01 6.56032477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891652532 meters 0.13787385713853742 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.66 [[ 9.99927046e-01 -6.12112356e-03 -1.04131926e-02 -4.64177309e+00] [ 6.18189338e-03 9.99963992e-01 5.81370542e-03 -6.03446869e+00] [ 1.03772313e-02 -5.87765453e-03 9.99928881e-01 6.56850706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921652532 meters 0.13041449208321898 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.66 [[ 9.99930739e-01 -5.93400843e-03 -1.01639317e-02 -4.64271791e+00] [ 5.99376621e-03 9.99964872e-01 5.85906021e-03 -6.03399310e+00] [ 1.01288069e-02 -5.91957463e-03 9.99931181e-01 6.57288182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951652532 meters 0.13775521668688753 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.66 [[ 9.99934333e-01 -5.94936070e-03 -9.79459348e-03 -4.64359037e+00] [ 6.00320811e-03 9.99966979e-01 5.47747640e-03 -6.03245907e+00] [ 9.76168257e-03 -5.53591569e-03 9.99937030e-01 6.57090348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981652532 meters 0.13459864808212169 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.66 [[ 9.99936447e-01 -6.10023681e-03 -9.48098730e-03 -4.64439999e+00] [ 6.14600640e-03 9.99969565e-01 4.80589827e-03 -6.02961539e+00] [ 9.45138163e-03 -4.86386305e-03 9.99943506e-01 6.56877713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011652532 meters 0.13439952997969773 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.03, Z:0.66 [[ 9.99938518e-01 -6.21595252e-03 -9.18272822e-03 -4.64510695e+00] [ 6.25483575e-03 9.99971569e-01 4.21175427e-03 -6.02731395e+00] [ 9.15628708e-03 -4.26893178e-03 9.99948968e-01 6.56637882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041652532 meters 0.13625286402328646 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99944273e-01 -6.07737416e-03 -8.63226229e-03 -4.64674827e+00] [ 6.11001025e-03 9.99974267e-01 3.75938435e-03 -6.02486197e+00] [ 8.60919297e-03 -3.81191806e-03 9.99955675e-01 6.56861629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071652532 meters 0.13820592803439008 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99968585e-01 -1.52641319e-03 -7.77810554e-03 -4.64933341e+00] [ 1.58228008e-03 9.99972961e-01 7.18149795e-03 -6.02036951e+00] [ 7.76693329e-03 -7.19357948e-03 9.99943962e-01 6.57288811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101652532 meters 0.1645564647695246 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99972680e-01 -1.58311788e-03 -7.22036448e-03 -4.65072669e+00] [ 1.62920512e-03 9.99978311e-01 6.38154256e-03 -6.01707912e+00] [ 7.21010514e-03 -6.39313167e-03 9.99953570e-01 6.57172175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131652532 meters 0.16618174204396838 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.66 [[ 9.99978743e-01 -1.36605644e-03 -6.37554793e-03 -4.65305324e+00] [ 1.40239432e-03 9.99982780e-01 5.69858310e-03 -6.01338660e+00] [ 6.36765355e-03 -5.70740300e-03 9.99963439e-01 6.57502814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161652532 meters 0.14315170680219755 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99987004e-01 -8.56365828e-04 -5.02577128e-03 -4.65681792e+00] [ 8.79381468e-04 9.99989129e-01 4.57910237e-03 -6.00791694e+00] [ 5.02179526e-03 -4.58346243e-03 9.99976886e-01 6.58064676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191652532 meters 0.23998156671641566 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99989955e-01 -8.47010369e-04 -4.40135215e-03 -4.65832660e+00] [ 8.64011809e-04 9.99992168e-01 3.86231188e-03 -6.00502693e+00] [ 4.39804626e-03 -3.86607590e-03 9.99982855e-01 6.57872555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221652532 meters 0.17155801677327925 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.00, Z:0.66 [[ 9.99991702e-01 -9.55230667e-04 -3.96027772e-03 -4.65928248e+00] [ 9.67970471e-04 9.99994359e-01 3.21622887e-03 -6.00267035e+00] [ 3.95718314e-03 -3.22003562e-03 9.99986986e-01 6.57567722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251652532 meters 0.24101877440093933 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.00, Z:0.66 [[ 9.99993798e-01 -1.06787673e-03 -3.35602437e-03 -4.66075482e+00] [ 1.07540935e-03 9.99996905e-01 2.24350687e-03 -5.99882989e+00] [ 3.35361820e-03 -2.24710206e-03 9.99991852e-01 6.57307381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281652532 meters 0.24389200215746057 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.00, Z:0.66 [[ 9.99995246e-01 -1.02701867e-03 -2.90752846e-03 -4.66204688e+00] [ 1.03245672e-03 9.99997720e-01 1.86945128e-03 -5.99688199e+00] [ 2.90560186e-03 -1.87244429e-03 9.99994026e-01 6.57491475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311652532 meters 0.2421509337432584 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99995235e-01 -1.40234041e-03 -2.75010258e-03 -4.66217279e+00] [ 1.40520356e-03 9.99998472e-01 1.03945185e-03 -5.99412205e+00] [ 2.74864072e-03 -1.04331135e-03 9.99995678e-01 6.56941861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341652532 meters 0.2421509337432584 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99995235e-01 -1.40234041e-03 -2.75010258e-03 -4.66217279e+00] [ 1.40520356e-03 9.99998472e-01 1.03945185e-03 -5.99412205e+00] [ 2.74864072e-03 -1.04331135e-03 9.99995678e-01 6.56941861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371652532 meters 0.166779801671934 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99996334e-01 -1.37330704e-03 -2.33351826e-03 -4.66322887e+00] [ 1.37502494e-03 9.99998785e-01 7.34739034e-04 -5.99269783e+00] [ 2.33250640e-03 -7.37944987e-04 9.99997007e-01 6.56879550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401652532 meters 0.2348897722350828 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99996306e-01 -1.58824054e-03 -2.20584833e-03 -4.66338608e+00] [ 1.58869382e-03 9.99998717e-01 2.03752984e-04 -5.99102790e+00] [ 2.20552189e-03 -2.07256649e-04 9.99997546e-01 6.56526185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43165253200002 meters 0.23380972660971924 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99996094e-01 -1.71499498e-03 -2.20691710e-03 -4.66308702e+00] [ 1.71502071e-03 9.99998529e-01 9.76487894e-06 -5.99082725e+00] [ 2.20689711e-03 -1.35497493e-05 9.99997565e-01 6.56040440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46165253200002 meters 0.1592123108752257 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99996739e-01 -1.53271786e-03 -2.04259336e-03 -4.66379865e+00] [ 1.53305949e-03 9.99998811e-01 1.65698415e-04 -5.99078439e+00] [ 2.04233696e-03 -1.68829292e-04 9.99997900e-01 6.56487338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.491652532 meters 0.23068400545597725 Centerline is valid? [False, False] Translation: X:-4.66, Y:-5.99, Z:0.66 [[ 9.99997425e-01 -1.45658319e-03 -1.74032630e-03 -4.66479068e+00] [ 1.45655377e-03 9.99998939e-01 -1.81695303e-05 -5.98942875e+00] [ 1.74035092e-03 1.56346046e-05 9.99998485e-01 6.56771835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.521652532 meters 0.23186888596866848 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99997952e-01 -1.40362848e-03 -1.45773323e-03 -4.66567097e+00] [ 1.40335629e-03 9.99998998e-01 -1.87733229e-04 -5.98827931e+00] [ 1.45799527e-03 1.85687125e-04 9.99998920e-01 6.56978296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551652532 meters 0.2348821310909432 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99997989e-01 -1.24761170e-03 -1.57007016e-03 -4.66574617e+00] [ 1.24791149e-03 9.99999203e-01 1.89978697e-04 -5.98915784e+00] [ 1.56983189e-03 -1.91937623e-04 9.99998749e-01 6.57576963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581652532 meters 0.23383548576782928 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99998471e-01 -1.23548977e-03 -1.23763518e-03 -4.66665611e+00] [ 1.23525450e-03 9.99999219e-01 -1.90843983e-04 -5.98743664e+00] [ 1.23786999e-03 1.89314896e-04 9.99999216e-01 6.57625423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611652532 meters 0.23716551769926023 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99998987e-01 -1.24401764e-03 -6.91797667e-04 -4.66785204e+00] [ 1.24351844e-03 9.99998967e-01 -7.21564425e-04 -5.98537877e+00] [ 6.92694591e-04 7.20703431e-04 9.99999500e-01 6.57416105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641652532 meters 0.22714525206985822 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999314e-01 -9.13280652e-04 -7.33141915e-04 -4.66829809e+00] [ 9.13207175e-04 9.99999578e-01 -1.00550345e-04 -5.98686234e+00] [ 7.33233436e-04 9.98807656e-05 9.99999726e-01 6.58393866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671652532 meters 0.2278792131621762 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999332e-01 -9.46179667e-04 -6.64308104e-04 -4.66839724e+00] [ 9.46009496e-04 9.99999520e-01 -2.56430265e-04 -5.98642041e+00] [ 6.64550414e-04 2.55801652e-04 9.99999746e-01 6.58243534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701652532 meters 0.23534161059043496 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999610e-01 -7.11321477e-04 -5.23121842e-04 -4.66912313e+00] [ 7.11335358e-04 9.99999747e-01 2.63489677e-05 -5.98671682e+00] [ 5.23102966e-04 -2.67210725e-05 9.99999863e-01 6.58837169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731652532 meters 0.23243150300284507 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999566e-01 -8.69763686e-04 -3.32965343e-04 -4.66933031e+00] [ 8.69607241e-04 9.99999512e-01 -4.69711674e-04 -5.98516026e+00] [ 3.33373719e-04 4.69421921e-04 9.99999834e-01 6.58294440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761652532 meters 0.23244014736685006 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999358e-01 -1.02819124e-03 -4.76316998e-04 -4.66873860e+00] [ 1.02789820e-03 9.99999283e-01 -6.15055050e-04 -5.98510337e+00] [ 4.76949050e-04 6.14565049e-04 9.99999697e-01 6.57927374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791652532 meters 0.22767739382458732 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.98, Z:0.66 [[ 9.99999207e-01 -1.10030174e-03 -6.11838439e-04 -4.66847518e+00] [ 1.09989155e-03 9.99999170e-01 -6.70355186e-04 -5.98483400e+00] [ 6.12575525e-04 6.69681699e-04 9.99999588e-01 6.57976686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821652532 meters 0.2255439566911931 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999495e-01 -8.22051976e-04 -5.77779971e-04 -4.66910914e+00] [ 8.21927531e-04 9.99999639e-01 -2.15588089e-04 -5.98558581e+00] [ 5.77956987e-04 2.15113087e-04 9.99999810e-01 6.58910885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851652532 meters 0.22591405160215 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999676e-01 -6.42667538e-04 -4.85074779e-04 -4.66967559e+00] [ 6.42680554e-04 9.99999793e-01 2.66779432e-05 -5.98589315e+00] [ 4.85057533e-04 -2.69896827e-05 9.99999882e-01 6.59494289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881652532 meters 0.22591405160215 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999676e-01 -6.42667538e-04 -4.85074779e-04 -4.66967559e+00] [ 6.42680554e-04 9.99999793e-01 2.66779432e-05 -5.98589315e+00] [ 4.85057533e-04 -2.69896827e-05 9.99999882e-01 6.59494289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911652532 meters 0.22589918983908316 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999622e-01 -5.86407405e-04 -6.42223490e-04 -4.66934405e+00] [ 5.86637025e-04 9.99999764e-01 3.57410188e-04 -5.98718851e+00] [ 6.42013751e-04 -3.57786805e-04 9.99999730e-01 6.59708634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941652532 meters 0.22069432629633642 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999572e-01 -5.46901014e-04 -7.46382779e-04 -4.66900638e+00] [ 5.47292048e-04 9.99999713e-01 5.23801459e-04 -5.98807320e+00] [ 7.46096097e-04 -5.24209724e-04 9.99999584e-01 6.59648711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971652532 meters 0.21894895165910608 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999552e-01 -6.53546392e-04 -6.84791075e-04 -4.66880504e+00] [ 6.53770530e-04 9.99999733e-01 3.27135771e-04 -5.98791688e+00] [ 6.84577093e-04 -3.27583321e-04 9.99999712e-01 6.59086137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001652532 meters 0.2213612916221148 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999618e-01 -7.00758335e-04 -5.22593235e-04 -4.66884460e+00] [ 7.00841529e-04 9.99999742e-01 1.59027203e-04 -5.98781671e+00] [ 5.22481660e-04 -1.59393397e-04 9.99999851e-01 6.58506211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031652532 meters 0.215170528358262 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999453e-01 -6.95871511e-04 -7.81382054e-04 -4.66798551e+00] [ 6.96255842e-04 9.99999637e-01 4.91696430e-04 -5.98959973e+00] [ 7.81039613e-04 -4.92240202e-04 9.99999574e-01 6.58270671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061652532 meters 0.2139108381150136 Centerline is valid? [False, False] Translation: X:-4.67, Y:-5.99, Z:0.66 [[ 9.99999003e-01 -3.55513023e-04 -1.36673134e-03 -4.66674591e+00] [ 3.57940233e-04 9.99998359e-01 1.77608936e-03 -5.99477204e+00] [ 1.36609767e-03 -1.77657679e-03 9.99997489e-01 6.58704056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091652532 meters 0.21082520961259224 Centerline is valid? [False, False] Translation: X:-4.67, Y:-6.00, Z:0.66 [[ 9.99998545e-01 -3.32788526e-04 -1.67303449e-03 -4.66578327e+00] [ 3.36577235e-04 9.99997379e-01 2.26480149e-03 -5.99719331e+00] [ 1.67227640e-03 -2.26536130e-03 9.99996036e-01 6.58488646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121652532 meters 0.20547770408566166 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.66 [[ 9.99986149e-01 -3.27133182e-03 -4.12302278e-03 -4.65028275e+00] [ 3.29007698e-03 9.99984246e-01 4.54790958e-03 -5.99663354e+00] [ 4.10808011e-03 -4.56141165e-03 9.99981158e-01 6.55693357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151652532 meters 0.19951096832859921 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99984073e-01 -3.42092435e-03 -4.48897098e-03 -4.64876187e+00] [ 3.44264515e-03 9.99982361e-01 4.83993062e-03 -5.99890528e+00] [ 4.47233477e-03 -4.85530747e-03 9.99978212e-01 6.54732560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18165253200002 meters 0.1974355433388919 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99982406e-01 -3.56412109e-03 -4.74174912e-03 -4.64771861e+00] [ 3.58735873e-03 9.99981554e-01 4.90120092e-03 -5.99995094e+00] [ 4.72419319e-03 -4.91812504e-03 9.99976747e-01 6.54133985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21165253200002 meters 0.19475963926922016 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99981369e-01 -3.58218881e-03 -4.94266053e-03 -4.64698076e+00] [ 3.60762100e-03 9.99980251e-01 5.14615838e-03 -6.00140601e+00] [ 4.92412841e-03 -5.16389375e-03 9.99974543e-01 6.53846636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.241652532 meters 0.1882459385448139 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.00, Z:0.65 [[ 9.99962237e-01 -7.24503778e-03 -4.79934500e-03 -4.64785602e+00] [ 7.25510753e-03 9.99971510e-01 2.08407479e-03 -6.00496517e+00] [ 4.78410906e-03 -2.11881585e-03 9.99986311e-01 6.54914204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.271652532 meters 0.18244541798885913 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.66 [[ 9.99962890e-01 -6.93777563e-03 -5.10739852e-03 -4.64740411e+00] [ 6.95366951e-03 9.99971015e-01 3.10077859e-03 -6.00855688e+00] [ 5.08573798e-03 -3.13617868e-03 9.99982150e-01 6.55569910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301652532 meters 0.18045312073791908 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.66 [[ 9.99963002e-01 -6.79832797e-03 -5.27041661e-03 -4.64704993e+00] [ 6.81737757e-03 9.99970263e-01 3.60494019e-03 -6.01042101e+00] [ 5.24575232e-03 -3.64073724e-03 9.99979613e-01 6.55747710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331652532 meters 0.17359350561875297 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.66 [[ 9.99960430e-01 -6.81832260e-03 -5.71390834e-03 -4.64579115e+00] [ 6.84250395e-03 9.99967672e-01 4.22320660e-03 -6.01304459e+00] [ 5.68492844e-03 -4.26213693e-03 9.99974758e-01 6.55532948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361652532 meters 0.17139069581039001 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99959690e-01 -6.85636595e-03 -5.79724362e-03 -4.64520092e+00] [ 6.88146818e-03 9.99966986e-01 4.32122584e-03 -6.01404961e+00] [ 5.76742432e-03 -4.36094520e-03 9.99973859e-01 6.54922758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391652532 meters 0.16952243519619456 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99958822e-01 -6.94479215e-03 -5.84162586e-03 -4.64466392e+00] [ 6.96992257e-03 9.99966496e-01 4.29265619e-03 -6.01462890e+00] [ 5.81161854e-03 -4.33319511e-03 9.99973724e-01 6.54240018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421652532 meters 0.1688367106375533 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.65 [[ 9.99961042e-01 -6.75245673e-03 -5.68499865e-03 -4.64507362e+00] [ 6.77840888e-03 9.99966637e-01 4.55819966e-03 -6.01547257e+00] [ 5.65402993e-03 -4.59655732e-03 9.99973451e-01 6.54278380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451652532 meters 0.1657437207933744 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99960081e-01 -6.72567847e-03 -5.88239298e-03 -4.64447699e+00] [ 6.75436605e-03 9.99965327e-01 4.87066154e-03 -6.01692225e+00] [ 5.84943052e-03 -4.91019894e-03 9.99970837e-01 6.54167624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481652532 meters 0.16371854781303113 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99961668e-01 -6.47895675e-03 -5.88941637e-03 -4.64478537e+00] [ 6.51039100e-03 9.99964581e-01 5.33400422e-03 -6.01810130e+00] [ 5.85464899e-03 -5.37214217e-03 9.99968431e-01 6.54762885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511652532 meters 0.18416138192283962 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99963805e-01 -6.26800220e-03 -5.75339975e-03 -4.64534388e+00] [ 6.30012390e-03 9.99964574e-01 5.58204156e-03 -6.01859794e+00] [ 5.71820768e-03 -5.61808665e-03 9.99967869e-01 6.55119992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541652532 meters 0.18155836267768408 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99965032e-01 -6.16955784e-03 -5.64547054e-03 -4.64573294e+00] [ 6.20142025e-03 9.99964844e-01 5.64389768e-03 -6.01858400e+00] [ 5.61045171e-03 -5.67871026e-03 9.99968137e-01 6.55291998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571652532 meters 0.17948351459419934 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.65 [[ 9.99965344e-01 -6.30664333e-03 -5.43483415e-03 -4.64607216e+00] [ 6.33479493e-03 9.99966527e-01 5.17829136e-03 -6.01704765e+00] [ 5.40199460e-03 -5.21254046e-03 9.99971824e-01 6.54888419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601652532 meters 0.18145432097433756 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.65 [[ 9.99965810e-01 -6.45727254e-03 -5.16546759e-03 -4.64652223e+00] [ 6.48116152e-03 9.99968318e-01 4.62145421e-03 -6.01522882e+00] [ 5.13546195e-03 -4.65477443e-03 9.99975980e-01 6.54414730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631652532 meters 0.182503062045668 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99971883e-01 -6.21006239e-03 -4.20344064e-03 -4.64890825e+00] [ 6.22641691e-03 9.99973054e-01 3.88890878e-03 -6.01177728e+00] [ 4.17917701e-03 -3.91497181e-03 9.99983604e-01 6.54307059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661652532 meters 0.18242717563930802 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99973532e-01 -6.04245299e-03 -4.05278106e-03 -4.64950024e+00] [ 6.05886846e-03 9.99973442e-01 4.05044809e-03 -6.01195545e+00] [ 4.02819878e-03 -4.07489615e-03 9.99983584e-01 6.54652730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691652532 meters 0.18139932464082106 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.66 [[ 9.99975537e-01 -5.85538968e-03 -3.82630105e-03 -4.65034334e+00] [ 5.87128558e-03 9.99974126e-01 4.15643520e-03 -6.01179390e+00] [ 3.80186450e-03 -4.17879883e-03 9.99984042e-01 6.55075537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721652532 meters 0.18050016388336293 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99976212e-01 -5.99257462e-03 -3.41539711e-03 -4.65107158e+00] [ 6.00449949e-03 9.99975876e-01 3.49200818e-03 -6.00960403e+00] [ 3.39438860e-03 -3.51243287e-03 9.99988070e-01 6.54401601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751652532 meters 0.17949927325196016 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99974822e-01 -6.30502253e-03 -3.25613385e-03 -4.65098043e+00] [ 6.31412923e-03 9.99976162e-01 2.79411750e-03 -6.00776334e+00] [ 3.23843925e-03 -2.81460680e-03 9.99990795e-01 6.53493665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781652532 meters 0.1787218459237804 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99988206e-01 -2.58685900e-03 -4.11058131e-03 -4.64824158e+00] [ 2.61510800e-03 9.99972901e-01 6.88181578e-03 -6.00930359e+00] [ 4.09266762e-03 -6.89248422e-03 9.99967871e-01 6.52460790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811652532 meters 0.17766023633644007 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99987556e-01 -2.73795994e-03 -4.17026715e-03 -4.64777204e+00] [ 2.76584829e-03 9.99973754e-01 6.69640453e-03 -6.00924207e+00] [ 4.15182321e-03 -6.70785552e-03 9.99968883e-01 6.51945462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841652532 meters 0.1756287782834332 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.01, Z:0.65 [[ 9.99973322e-01 -6.65064279e-03 -3.02078238e-03 -4.65054336e+00] [ 6.65692939e-03 9.99975688e-01 2.07585202e-03 -6.00687503e+00] [ 3.00690319e-03 -2.09590577e-03 9.99993283e-01 6.51849027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871652532 meters 0.17426183309659637 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99937449e-01 2.07169035e-03 -1.09912118e-02 -4.63692690e+00] [-2.08013812e-03 9.99997550e-01 -7.57217117e-04 -6.00766643e+00] [ 1.09896161e-02 7.80032991e-04 9.99939308e-01 6.56147613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901652532 meters 0.17544100468402718 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99940165e-01 2.42838675e-03 -1.06662977e-02 -4.63815776e+00] [-2.43272106e-03 9.99996964e-01 -3.93400117e-04 -6.00807780e+00] [ 1.06653100e-02 4.19324705e-04 9.99943036e-01 6.56826566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93165253200002 meters 0.17418305311288262 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99939837e-01 2.57563175e-03 -1.06624752e-02 -4.63824916e+00] [-2.57623073e-03 9.99996681e-01 -4.24417571e-05 -6.00930455e+00] [ 1.06623304e-02 6.99081998e-05 9.99943153e-01 6.57038701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96165253200002 meters 0.17125344304567922 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99938510e-01 2.64400765e-03 -1.07696735e-02 -4.63773019e+00] [-2.64101856e-03 9.99996470e-01 2.91759250e-04 -6.01103207e+00] [ 1.07704069e-02 -2.63298402e-04 9.99941963e-01 6.56625473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.991652532 meters 0.1721573935333414 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99939233e-01 2.54093428e-03 -1.07272461e-02 -4.63738822e+00] [-2.53941668e-03 9.99996764e-01 1.55089458e-04 -6.01126441e+00] [ 1.07276054e-02 -1.27839086e-04 9.99942449e-01 6.55901374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.021652532 meters 0.16988741541290933 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99938700e-01 2.57171255e-03 -1.07695040e-02 -4.63714416e+00] [-2.56834342e-03 9.99996648e-01 3.26658184e-04 -6.01215611e+00] [ 1.07703080e-02 -2.98978375e-04 9.99941954e-01 6.55725489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051652532 meters 0.17586966170992532 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99937840e-01 2.48762491e-03 -1.08686454e-02 -4.63651652e+00] [-2.48324142e-03 9.99996830e-01 4.16792206e-04 -6.01322293e+00] [ 1.08696478e-02 -3.89776828e-04 9.99940848e-01 6.55143828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081652532 meters 0.16497223592330018 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99935505e-01 2.47914720e-03 -1.10832737e-02 -4.63586854e+00] [-2.47190953e-03 9.99996723e-01 6.66677220e-04 -6.01452199e+00] [ 1.10848901e-02 -6.39237373e-04 9.99938356e-01 6.55025391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111652532 meters 0.1735714242676456 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99934993e-01 2.60082292e-03 -1.11016406e-02 -4.63595327e+00] [-2.59095144e-03 9.99996235e-01 9.03480370e-04 -6.01517767e+00] [ 1.11039486e-02 -8.74657826e-04 9.99937967e-01 6.55247128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141652532 meters 0.16393504128565156 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99939173e-01 2.43275411e-03 -1.07578486e-02 -4.63643417e+00] [-2.43013628e-03 9.99997014e-01 2.56405970e-04 -6.01323388e+00] [ 1.07584403e-02 -2.30247335e-04 9.99942100e-01 6.54514831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171652532 meters 0.16206730728163543 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99940692e-01 2.48974810e-03 -1.06025350e-02 -4.63685764e+00] [-2.48720890e-03 9.99996875e-01 2.52669145e-04 -6.01306044e+00] [ 1.06031310e-02 -2.26283440e-04 9.99943760e-01 6.54551064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201652532 meters 0.1613977975889496 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99940959e-01 2.25153853e-03 -1.06305443e-02 -4.63641161e+00] [-2.25386010e-03 9.99997439e-01 -2.06411587e-04 -6.01209907e+00] [ 1.06300523e-02 2.30359160e-04 9.99943473e-01 6.53845500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231652532 meters 0.1682271995839616 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99943235e-01 2.46390420e-03 -1.03661054e-02 -4.63734975e+00] [-2.46450123e-03 9.99996962e-01 -4.48212330e-05 -6.01214746e+00] [ 1.03659635e-02 7.03659683e-05 9.99946269e-01 6.54305129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261652532 meters 0.16594697387048096 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.65 [[ 9.99943558e-01 2.60051870e-03 -1.03013682e-02 -4.63777423e+00] [-2.59938325e-03 9.99996614e-01 1.23611093e-04 -6.01234285e+00] [ 1.03016547e-02 -9.68269122e-05 9.99946932e-01 6.54739634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291652532 meters 0.16812922086575163 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99947552e-01 2.90417531e-03 -9.82139402e-03 -4.63943355e+00] [-2.90290898e-03 9.99995776e-01 1.43188687e-04 -6.01129517e+00] [ 9.82176838e-03 -1.14670564e-04 9.99951759e-01 6.55482974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321652532 meters 0.16606487710973747 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99949122e-01 2.94681945e-03 -9.64725792e-03 -4.63998369e+00] [-2.94634476e-03 9.99995658e-01 6.34168142e-05 -6.01074574e+00] [ 9.64740291e-03 -3.49894399e-05 9.99953462e-01 6.55666323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351652532 meters 0.16540622160149718 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99950391e-01 3.26011303e-03 -9.41208324e-03 -4.64105879e+00] [-3.25612630e-03 9.99994603e-01 4.38868383e-04 -6.01125721e+00] [ 9.41346320e-03 -4.08199679e-04 9.99955609e-01 6.56470237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381652532 meters 0.16561090508082243 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99949700e-01 3.39426463e-03 -9.43804853e-03 -4.64115987e+00] [-3.38725319e-03 9.99993975e-01 7.58776025e-04 -6.01227379e+00] [ 9.44056716e-03 -7.26768798e-04 9.99955173e-01 6.56834371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411652532 meters 0.16374282786027627 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.01, Z:0.66 [[ 9.99948799e-01 3.49022475e-03 -9.49833147e-03 -4.64100587e+00] [-3.48058109e-03 9.99993411e-01 1.03164144e-03 -6.01337931e+00] [ 9.50186954e-03 -9.98528904e-04 9.99954358e-01 6.56915299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441652532 meters 0.16210486764360116 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99944836e-01 3.35434579e-03 -9.95357872e-03 -4.63931813e+00] [-3.34053143e-03 9.99993435e-01 1.40417903e-03 -6.01621492e+00] [ 9.95822347e-03 -1.37085133e-03 9.99949476e-01 6.56175068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471652532 meters 0.16353085334132275 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99942818e-01 3.53738234e-03 -1.00919467e-02 -4.63904802e+00] [-3.51750215e-03 9.99991840e-01 1.98697688e-03 -6.01835680e+00] [ 1.00988931e-02 -1.95136481e-03 9.99947101e-01 6.56378809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501652532 meters 0.17121181057233234 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99938289e-01 3.25907601e-03 -1.06206206e-02 -4.63708942e+00] [-3.23435099e-03 9.99992021e-01 2.34436535e-03 -6.02120168e+00] [ 1.06281763e-02 -2.30986986e-03 9.99940851e-01 6.55542527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531652532 meters 0.1703775628385749 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99945910e-01 -9.06144519e-04 -1.03613122e-02 -4.63783606e+00] [ 8.87704906e-04 9.99998014e-01 -1.78412053e-03 -6.02157380e+00] [ 1.03629083e-02 1.77482624e-03 9.99944729e-01 6.55596196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561652532 meters 0.16817627563086607 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99943385e-01 -8.62669164e-04 -1.06057832e-02 -4.63708766e+00] [ 8.48345161e-04 9.99998722e-01 -1.35500886e-03 -6.02356491e+00] [ 1.06069386e-02 1.34593478e-03 9.99942839e-01 6.55452978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591652532 meters 0.1664245880125414 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99938869e-01 -9.95788799e-04 -1.10121512e-02 -4.63562279e+00] [ 9.84489444e-04 9.99998983e-01 -1.03145384e-03 -6.02565012e+00] [ 1.10131672e-02 1.02054944e-03 9.99938832e-01 6.54759529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621652532 meters 0.16468661500541182 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.03, Z:0.65 [[ 9.99939659e-01 -9.30089420e-04 -1.09458848e-02 -4.63571920e+00] [ 9.19703229e-04 9.99999122e-01 -9.53862530e-04 -6.02598621e+00] [ 1.09467623e-02 9.43738008e-04 9.99939637e-01 6.54616040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651652532 meters 0.16391384025456912 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99942969e-01 -9.47440273e-04 -1.06377324e-02 -4.63620400e+00] [ 9.33187307e-04 9.99998660e-01 -1.34473369e-03 -6.02488217e+00] [ 1.06389922e-02 1.33473000e-03 9.99942514e-01 6.53976738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68165253200002 meters 0.171986924643894 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.65 [[ 9.99946065e-01 -6.79927318e-04 -1.03636282e-02 -4.63735131e+00] [ 6.68282392e-04 9.99999142e-01 -1.12705570e-03 -6.02481153e+00] [ 1.03643856e-02 1.12006908e-03 9.99945661e-01 6.54651859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71165253200002 meters 0.16603919258174293 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99947883e-01 -5.31690558e-04 -1.01955380e-02 -4.63806336e+00] [ 5.20864561e-04 9.99999298e-01 -1.06446268e-03 -6.02446540e+00] [ 1.01960968e-02 1.05909671e-03 9.99947458e-01 6.55072583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.741652532 meters 0.1670966455358355 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99952536e-01 -3.34199306e-04 -9.73724356e-03 -4.63947695e+00] [ 3.21869674e-04 9.99999145e-01 -1.26777388e-03 -6.02308369e+00] [ 9.73765892e-03 1.26457958e-03 9.99951788e-01 6.55329153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.771652532 meters 0.1833812471561467 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99958958e-01 -2.47568641e-04 -9.05649276e-03 -4.64114768e+00] [ 2.29059848e-04 9.99997883e-01 -2.04468444e-03 -6.02016352e+00] [ 9.05697979e-03 2.04252605e-03 9.99956899e-01 6.55016708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801652532 meters 0.1833812471561467 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99958958e-01 -2.47568641e-04 -9.05649276e-03 -4.64114768e+00] [ 2.29059848e-04 9.99997883e-01 -2.04468444e-03 -6.02016352e+00] [ 9.05697979e-03 2.04252605e-03 9.99956899e-01 6.55016708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831652532 meters 0.16496038113863573 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99961696e-01 7.75483249e-05 -8.75222338e-03 -4.64253201e+00] [-9.36229889e-05 9.99998310e-01 -1.83624301e-03 -6.01971596e+00] [ 8.75206619e-03 1.83699208e-03 9.99960013e-01 6.55897842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861652532 meters 0.1817161333934714 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99964957e-01 2.51811420e-04 -8.36788667e-03 -4.64381178e+00] [-2.67964333e-04 9.99998103e-01 -1.92928040e-03 -6.01860620e+00] [ 8.36738499e-03 1.93145509e-03 9.99963127e-01 6.56287409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891652532 meters 0.16561494387401612 Centerline is valid? [False, False] Translation: X:-4.64, Y:-6.02, Z:0.66 [[ 9.99965635e-01 4.29840057e-04 -8.27909958e-03 -4.64452060e+00] [-4.44186317e-04 9.99998403e-01 -1.73106780e-03 -6.01846430e+00] [ 8.27834227e-03 1.73468578e-03 9.99964229e-01 6.57031745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921652532 meters 0.1807301080066193 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99970449e-01 7.33572415e-04 -7.65259587e-03 -4.64650973e+00] [-7.48551674e-04 9.99997809e-01 -1.95472835e-03 -6.01657903e+00] [ 7.65114517e-03 1.96039895e-03 9.99968808e-01 6.57478766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951652532 meters 0.18166609760761548 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99973552e-01 1.02185986e-03 -7.20075133e-03 -4.64808704e+00] [-1.03543508e-03 9.99997693e-01 -1.88177400e-03 -6.01584538e+00] [ 7.19881181e-03 1.88918014e-03 9.99972304e-01 6.58051990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981652532 meters 0.17753417667361512 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99974897e-01 1.32529535e-03 -6.96059678e-03 -4.64937724e+00] [-1.33654875e-03 9.99997807e-01 -1.61232673e-03 -6.01555596e+00] [ 6.95844471e-03 1.62158943e-03 9.99974475e-01 6.59099757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011652532 meters 0.17697396045160724 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99973836e-01 1.63765653e-03 -7.04591020e-03 -4.64967316e+00] [-1.64451310e-03 9.99998180e-01 -9.67444658e-04 -6.01717255e+00] [ 7.04431303e-03 9.79006437e-04 9.99974709e-01 6.60004188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041652532 meters 0.17326965216634319 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99974970e-01 1.88258594e-03 -6.82020574e-03 -4.65041938e+00] [-1.88749187e-03 9.99997965e-01 -7.12957748e-04 -6.01774004e+00] [ 6.81884966e-03 7.25812986e-04 9.99976488e-01 6.60243189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071652532 meters 0.17715448067991937 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99975755e-01 1.93988862e-03 -6.68776305e-03 -4.65061557e+00] [-1.94433304e-03 9.99997893e-01 -6.58123125e-04 -6.01807809e+00] [ 6.68647228e-03 6.71110408e-04 9.99977420e-01 6.59976851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101652532 meters 0.168489142455241 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99974576e-01 1.88813279e-03 -6.87616518e-03 -4.65001421e+00] [-1.89119795e-03 9.99998115e-01 -4.39291215e-04 -6.01910947e+00] [ 6.87532278e-03 4.52284236e-04 9.99976262e-01 6.59793903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131652532 meters 0.17002733266604347 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99973609e-01 1.82585371e-03 -7.03192241e-03 -4.64937247e+00] [-1.82789456e-03 9.99998289e-01 -2.83809673e-04 -6.02024383e+00] [ 7.03139218e-03 2.96655795e-04 9.99975235e-01 6.59450171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161652532 meters 0.17278546045525134 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99973090e-01 1.78420937e-03 -7.11587947e-03 -4.64903546e+00] [-1.78565829e-03 9.99998386e-01 -1.97268655e-04 -6.02087295e+00] [ 7.11551602e-03 2.09969875e-04 9.99974662e-01 6.59308053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191652532 meters 0.1691735653271611 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99972071e-01 1.94879921e-03 -7.21524037e-03 -4.64882179e+00] [-1.94632625e-03 9.99998045e-01 3.49746184e-04 -6.02298574e+00] [ 7.21590785e-03 -3.35693204e-04 9.99973909e-01 6.59472249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221652532 meters 0.16785247474241718 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99971654e-01 2.32933417e-03 -7.15999453e-03 -4.64938529e+00] [-2.32189923e-03 9.99996757e-01 1.04653776e-03 -6.02485554e+00] [ 7.16240904e-03 -1.02988331e-03 9.99973819e-01 6.60244819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251652532 meters 0.1651181928400426 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.03, Z:0.66 [[ 9.99971224e-01 2.44486126e-03 -7.18147576e-03 -4.64937044e+00] [-2.43507171e-03 9.99996095e-01 1.37159554e-03 -6.02608399e+00] [ 7.18480107e-03 -1.35406866e-03 9.99973272e-01 6.60406725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281652532 meters 0.17433920403264602 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.03, Z:0.66 [[ 9.99971282e-01 2.59059825e-03 -7.12210228e-03 -4.64960718e+00] [-2.57885062e-03 9.99995300e-01 1.65815089e-03 -6.02699977e+00] [ 7.12636441e-03 -1.63973644e-03 9.99973263e-01 6.60612049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311652532 meters 0.16126054133775672 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.03, Z:0.66 [[ 9.99978109e-01 -1.65517648e-03 -6.40633701e-03 -4.65119324e+00] [ 1.63556231e-03 9.99993963e-01 -3.06571157e-03 -6.02524154e+00] [ 6.41137263e-03 3.05516649e-03 9.99974780e-01 6.59996443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341652532 meters 0.16808451125945933 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99978817e-01 -1.74014997e-03 -6.27195755e-03 -4.65133191e+00] [ 1.71948105e-03 9.99993079e-01 -3.29933559e-03 -6.02432199e+00] [ 6.27765548e-03 3.28848118e-03 9.99974888e-01 6.59553276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371652532 meters 0.1661966408881351 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99980528e-01 -1.67997165e-03 -6.01003979e-03 -4.65199785e+00] [ 1.65939142e-03 9.99992749e-01 -3.42765808e-03 -6.02366491e+00] [ 6.01575458e-03 3.41761833e-03 9.99976065e-01 6.59437331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401652532 meters 0.1654645519198796 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99983292e-01 -1.45350220e-03 -5.59494143e-03 -4.65346734e+00] [ 1.43426143e-03 9.99993050e-01 -3.44143553e-03 -6.02251285e+00] [ 5.59990468e-03 3.43335342e-03 9.99978426e-01 6.59970885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43165253200002 meters 0.169400826853714 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.02, Z:0.66 [[ 9.99984856e-01 -1.16969508e-03 -5.37762729e-03 -4.65455723e+00] [ 1.15275473e-03 9.99994367e-01 -3.15217460e-03 -6.02249148e+00] [ 5.38128408e-03 3.14592778e-03 9.99980572e-01 6.60816182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46165253200002 meters 0.16876483986498378 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.02, Z:0.66 [[ 9.99981843e-01 3.39149406e-03 -4.98116270e-03 -4.65613106e+00] [-3.38630541e-03 9.99993715e-01 1.04971891e-03 -6.02085010e+00] [ 4.98469151e-03 -1.03283212e-03 9.99987043e-01 6.61635734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.491652532 meters 0.1716388919646801 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.02, Z:0.66 [[ 9.99983916e-01 3.13087302e-03 -4.72927252e-03 -4.65660077e+00] [-3.12958114e-03 9.99995063e-01 2.80541901e-04 -6.01809820e+00] [ 4.73012751e-03 -2.65736747e-04 9.99988778e-01 6.61120776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.521652532 meters 0.1716388919646801 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.02, Z:0.66 [[ 9.99983916e-01 3.13087302e-03 -4.72927252e-03 -4.65660077e+00] [-3.12958114e-03 9.99995063e-01 2.80541901e-04 -6.01809820e+00] [ 4.73012751e-03 -2.65736747e-04 9.99988778e-01 6.61120776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551652532 meters 0.17284183712933568 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99986649e-01 3.19580619e-03 -4.06070047e-03 -4.65849491e+00] [-3.19698806e-03 9.99994849e-01 -2.84593223e-04 -6.01498046e+00] [ 4.05977005e-03 2.97571434e-04 9.99991715e-01 6.61227198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581652532 meters 0.17640949254467542 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99989715e-01 3.33370869e-03 -3.07507599e-03 -4.66095836e+00] [-3.33728362e-03 9.99993761e-01 -1.15814974e-03 -6.01138105e+00] [ 3.07119587e-03 1.16840023e-03 9.99994601e-01 6.60948237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611652532 meters 0.17688005807069068 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99990375e-01 3.36772328e-03 -2.81228355e-03 -4.66167630e+00] [-3.37142059e-03 9.99993457e-01 -1.31099618e-03 -6.01064171e+00] [ 2.80785008e-03 1.32046495e-03 9.99995186e-01 6.60986997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641652532 meters 0.17943840013615486 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99990820e-01 3.47374627e-03 -2.50840488e-03 -4.66247436e+00] [-3.47703646e-03 9.99993099e-01 -1.30849979e-03 -6.01046359e+00] [ 2.50384217e-03 1.31720959e-03 9.99995998e-01 6.61010581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671652532 meters 0.19493488632645198 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99991074e-01 3.56396310e-03 -2.26948230e-03 -4.66334560e+00] [-3.56694169e-03 9.99992781e-01 -1.30976150e-03 -6.00983796e+00] [ 2.26479797e-03 1.31784492e-03 9.99996567e-01 6.61422630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701652532 meters 0.18533468742148881 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99990941e-01 3.62651199e-03 -2.22857439e-03 -4.66350614e+00] [-3.62906700e-03 9.99992761e-01 -1.14350612e-03 -6.01033747e+00] [ 2.22441132e-03 1.15158341e-03 9.99996863e-01 6.61598560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731652532 meters 0.18547624134617227 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.01, Z:0.66 [[ 9.99990099e-01 3.86169886e-03 -2.21122082e-03 -4.66375520e+00] [-3.86303553e-03 9.99992358e-01 -6.00542546e-04 -6.01198703e+00] [ 2.20888480e-03 6.09078624e-04 9.99997375e-01 6.62137311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761652532 meters 0.18551904394133045 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.02, Z:0.66 [[ 9.99988658e-01 3.96259798e-03 -2.64215522e-03 -4.66262372e+00] [-3.96215473e-03 9.99992136e-01 1.72972856e-04 -6.01532514e+00] [ 2.64281986e-03 -1.62502267e-04 9.99996495e-01 6.62441173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791652532 meters 0.17375590692922147 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.02, Z:0.66 [[ 9.99994991e-01 9.88270709e-06 -3.16518344e-03 -4.66127540e+00] [-1.68095610e-05 9.99997605e-01 -2.18843349e-03 -6.02206095e+00] [ 3.16515423e-03 2.18847573e-03 9.99992596e-01 6.63519466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821652532 meters 0.17994926772638606 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.03, Z:0.66 [[ 9.99993414e-01 2.74167055e-04 -3.61904790e-03 -4.66030215e+00] [-2.77372501e-04 9.99999570e-01 -8.85242984e-04 -6.02660304e+00] [ 3.61880364e-03 8.86240978e-04 9.99993059e-01 6.64349562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851652532 meters 0.1716184635342685 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.03, Z:0.66 [[ 9.99991524e-01 3.25982972e-04 -4.10427384e-03 -4.65880601e+00] [-3.25571002e-04 9.99999942e-01 1.01043638e-04 -6.03075734e+00] [ 4.10430654e-03 -9.97065492e-05 9.99991572e-01 6.64368414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881652532 meters 0.1667817977667586 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.04, Z:0.66 [[ 9.99978379e-01 -4.37471712e-03 -4.90946379e-03 -4.65554152e+00] [ 4.35948286e-03 9.99985663e-01 -3.10946162e-03 -6.03598932e+00] [ 4.92299641e-03 3.08799166e-03 9.99983114e-01 6.63279990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911652532 meters 0.16369007842824684 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.04, Z:0.66 [[ 9.99977280e-01 -4.09731842e-03 -5.35274178e-03 -4.65443616e+00] [ 4.08856399e-03 9.99990288e-01 -1.64542477e-03 -6.04103286e+00] [ 5.35943162e-03 1.62350236e-03 9.99984320e-01 6.63811973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941652532 meters 0.1658994790637902 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.05, Z:0.66 [[ 9.99976263e-01 -3.82702288e-03 -5.72945309e-03 -4.65344615e+00] [ 3.82492591e-03 9.99992614e-01 -3.76911297e-04 -6.04561840e+00] [ 5.73085322e-03 3.54987617e-04 9.99983516e-01 6.64173956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971652532 meters 0.16390346233002656 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.05, Z:0.66 [[ 9.99975542e-01 -3.65857514e-03 -5.96068370e-03 -4.65249638e+00] [ 3.66106044e-03 9.99993216e-01 4.06090960e-04 -6.04908023e+00] [ 5.95915755e-03 -4.27903451e-04 9.99982153e-01 6.63888991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001652532 meters 0.16217701137114363 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.05, Z:0.66 [[ 9.99969640e-01 -4.12983423e-03 -6.60780019e-03 -4.64949171e+00] [ 4.13170324e-03 9.99991428e-01 2.69223565e-04 -6.05151646e+00] [ 6.60663170e-03 -2.96516861e-04 9.99978132e-01 6.61710454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031652532 meters 0.1704269857002915 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.05, Z:0.66 [[ 9.99972217e-01 -4.05740490e-03 -6.25319832e-03 -4.65032524e+00] [ 4.05733452e-03 9.99991769e-01 -2.39399057e-05 -6.05071038e+00] [ 6.25324398e-03 -1.43207682e-06 9.99980448e-01 6.61198308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061652532 meters 0.16761142565161993 Centerline is valid? [False, False] Translation: X:-4.65, Y:-6.05, Z:0.66 [[ 9.99976381e-01 -3.73101584e-03 -5.77207290e-03 -4.65210658e+00] [ 3.73122752e-03 9.99993039e-01 2.59055192e-05 -6.04998848e+00] [ 5.77193606e-03 -4.74418246e-05 9.99983341e-01 6.61737964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091652532 meters 0.1702155008701817 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.05, Z:0.66 [[ 9.99984150e-01 -3.06469261e-03 -4.72298522e-03 -4.65602647e+00] [ 3.06223133e-03 9.99995172e-01 -5.28272180e-04 -6.04673272e+00] [ 4.72458141e-03 5.13800934e-04 9.99988707e-01 6.62393388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121652532 meters 0.19744853370584403 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.05, Z:0.66 [[ 9.99989331e-01 -2.52515721e-03 -3.86809498e-03 -4.65904029e+00] [ 2.52198987e-03 9.99996481e-01 -8.23494528e-04 -6.04502644e+00] [ 3.87016082e-03 8.13730445e-04 9.99992180e-01 6.62724465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151652532 meters 0.20727352861529455 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.04, Z:0.66 [[ 9.99993611e-01 -1.90098731e-03 -3.02726086e-03 -4.66222669e+00] [ 1.89805360e-03 9.99997727e-01 -9.71675217e-04 -6.04339721e+00] [ 3.02910112e-03 9.65923105e-04 9.99994946e-01 6.63455799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18165253200002 meters 0.20434373601899705 Centerline is valid? [False, False] Translation: X:-4.66, Y:-6.04, Z:0.66 [[ 9.99992313e-01 2.06588160e-03 -3.33265029e-03 -4.66176003e+00] [-2.05653933e-03 9.99993953e-01 2.80424976e-03 -6.04201746e+00] [ 3.33842339e-03 -2.79737448e-03 9.99990515e-01 6.63887043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21165253200002 meters 0.2399183153156363 Centerline is valid? [False, False] Translation: X:-4.67, Y:-6.04, Z:0.66 [[ 9.99993471e-01 3.07579175e-03 -1.89692351e-03 -4.66676951e+00] [-3.07171838e-03 9.99992978e-01 2.14654203e-03 -6.03872469e+00] [ 1.90351251e-03 -2.14070120e-03 9.99995897e-01 6.64158466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.241652532 meters 0.2559297131033096 Centerline is valid? [False, False] Translation: X:-4.67, Y:-6.03, Z:0.66 [[ 9.99968164e-01 7.93625048e-03 -8.28331732e-04 -4.67044179e+00] [-7.93156947e-03 9.99953368e-01 5.50918848e-03 -6.03489090e+00] [ 8.72015406e-04 -5.50244312e-03 9.99984481e-01 6.64121979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.271652532 meters 0.2631308540132367 Centerline is valid? [False, False] Translation: X:-4.68, Y:-6.03, Z:0.66 [[ 9.99907901e-01 1.35680803e-02 3.09926875e-04 -4.67574226e+00] [-1.35700373e-02 9.99879297e-01 7.56602710e-03 -6.02572014e+00] [-2.07233003e-04 -7.56953600e-03 9.99971329e-01 6.63340264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301652532 meters 0.3022736801674499 Centerline is valid? [False, False] Translation: X:-4.68, Y:-6.02, Z:0.66 [[ 9.99890187e-01 1.47110834e-02 1.78849390e-03 -4.68128634e+00] [-1.47230279e-02 9.99868081e-01 6.85957828e-03 -6.02168041e+00] [-1.68734613e-03 -6.88515705e-03 9.99974873e-01 6.64161367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331652532 meters 0.3070754996612541 Centerline is valid? [False, False] Translation: X:-4.69, Y:-6.02, Z:0.67 [[ 9.99866088e-01 1.60137110e-02 3.37163192e-03 -4.68725892e+00] [-1.60344666e-02 9.99852083e-01 6.22164389e-03 -6.01749076e+00] [-3.27150159e-03 -6.27487305e-03 9.99974961e-01 6.65404617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361652532 meters 0.3229849534717156 Centerline is valid? [False, False] Translation: X:-4.70, Y:-6.01, Z:0.67 [[ 9.99744012e-01 2.19210364e-02 5.60175062e-03 -4.69997692e+00] [-2.19760344e-02 9.99708957e-01 9.95266212e-03 -6.00945327e+00] [-5.38194760e-03 -1.00732186e-02 9.99934780e-01 6.74228519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391652532 meters 0.33088820429595533 Centerline is valid? [False, False] Translation: X:-4.71, Y:-6.01, Z:0.68 [[ 0.99969043 0.0237465 0.00742675 -4.70701574] [-0.02381795 0.99966939 0.00968568 -6.00539571] [-0.00719429 -0.00985957 0.99992551 0.67610737] [ 0. 0. 0. 1. ]] SLAMing on 147.421652532 meters 0.3344383826404252 Centerline is valid? [False, False] Translation: X:-4.71, Y:-6.00, Z:0.68 [[ 0.99965355 0.0248047 0.00880347 -4.71217462] [-0.02488317 0.99965058 0.00891844 -6.00118672] [-0.00857918 -0.00913441 0.99992148 0.67687168] [ 0. 0. 0. 1. ]] SLAMing on 147.451652532 meters 0.34159972520577986 Centerline is valid? [False, False] Translation: X:-4.72, Y:-6.00, Z:0.68 [[ 0.99960123 0.02619987 0.01053329 -4.71835734] [-0.02628383 0.9996232 0.00791266 -5.99622174] [-0.01032201 -0.00818636 0.99991322 0.67742359] [ 0. 0. 0. 1. ]] SLAMing on 147.481652532 meters 0.34909013587716886 Centerline is valid? [False, False] Translation: X:-4.74, Y:-5.98, Z:0.67 [[ 0.99912809 0.03894686 0.01503987 -4.7385217 ] [-0.03908291 0.99919669 0.00886051 -5.98410863] [-0.0146827 -0.00944059 0.99984764 0.67371179] [ 0. 0. 0. 1. ]] SLAMing on 147.511652532 meters 0.3454117500020226 Centerline is valid? [False, False] Translation: X:-4.76, Y:-5.98, Z:0.67 [[ 0.99873874 0.04687535 0.01798995 -4.7554516 ] [-0.04700962 0.9988691 0.00711494 -5.97715797] [-0.01763609 -0.00795167 0.99981285 0.67138001] [ 0. 0. 0. 1. ]] SLAMing on 147.541652532 meters 0.3399384629556558 Centerline is valid? [False, False] Translation: X:-4.79, Y:-5.97, Z:0.67 [[ 0.9984905 0.05165287 0.01867342 -4.78788759] [-0.05189162 0.99857404 0.01253546 -5.97358504] [-0.0179993 -0.01348553 0.99974705 0.66915283] [ 0. 0. 0. 1. ]] SLAMing on 147.571652532 meters 0.34306856784873446 Centerline is valid? [False, False] Translation: X:-4.82, Y:-5.97, Z:0.66 [[ 0.99794021 0.05569583 0.03183266 -4.81895726] [-0.05622535 0.99829008 0.01598821 -5.9660728 ] [-0.03088776 -0.01774508 0.99936533 0.66073607] [ 0. 0. 0. 1. ]] SLAMing on 147.601652532 meters 0.3385681026003443 Centerline is valid? [False, False] Translation: X:-4.84, Y:-5.96, Z:0.66 [[ 0.99713179 0.06654099 0.03606219 -4.84274914] [-0.06706496 0.99765702 0.0135189 -5.95848969] [-0.03507814 -0.01589864 0.9992581 0.6580194 ] [ 0. 0. 0. 1. ]] SLAMing on 147.631652532 meters 0.33836380926383125 Centerline is valid? [False, False] Translation: X:-4.89, Y:-5.94, Z:0.66 [[ 0.99506046 0.0936175 0.03302202 -4.88573675] [-0.0941296 0.99545715 0.01430662 -5.94232002] [-0.03153265 -0.0173443 0.99935222 0.65544962] [ 0. 0. 0. 1. ]] SLAMing on 147.661652532 meters 0.3324629747955985 Centerline is valid? [False, False] Translation: X:-4.93, Y:-5.93, Z:0.65 [[ 0.99428945 0.10036527 0.03626715 -4.92684997] [-0.10096077 0.9947777 0.01497478 -5.93493415] [-0.0345748 -0.01855083 0.99922993 0.64970999] [ 0. 0. 0. 1. ]] SLAMing on 147.691652532 meters 0.32219525262568455 Centerline is valid? [False, False] Translation: X:-4.97, Y:-5.93, Z:0.64 [[ 0.99342642 0.10732568 0.03981391 -4.96748729] [-0.10805658 0.99400483 0.01667825 -5.92735147] [-0.03778521 -0.02087076 0.99906791 0.64497439] [ 0. 0. 0. 1. ]] SLAMing on 147.721652532 meters 0.32219525262568455 Centerline is valid? [False, False] Translation: X:-4.97, Y:-5.93, Z:0.64 [[ 0.99404232 0.10056622 0.04202733 -4.9749621 ] [-0.10157288 0.9945727 0.02254074 -5.92851483] [-0.0395324 -0.02667528 0.99886216 0.6397341 ] [ 0. 0. 0. 1. ]] SLAMing on 147.751652532 meters 0.31742214562081317 Centerline is valid? [False, False] Translation: X:-5.04, Y:-5.91, Z:0.63 [[ 0.99049479 0.12847883 0.04912497 -5.04224016] [-0.12984577 0.99120069 0.02571513 -5.91021449] [-0.04538886 -0.03184937 0.99846155 0.62993667] [ 0. 0. 0. 1. ]] SLAMing on 147.781652532 meters 0.3180851311169911 Centerline is valid? [False, False] Translation: X:-5.09, Y:-5.90, Z:0.62 [[ 0.98849649 0.14107795 0.0545133 -5.08856288] [-0.14283171 0.98930068 0.02971986 -5.90195476] [-0.04973723 -0.03716421 0.99807065 0.62473643] [ 0. 0. 0. 1. ]] SLAMing on 147.811652532 meters 0.32536779157576334 Centerline is valid? [False, False] Translation: X:-5.13, Y:-5.90, Z:0.62 [[ 0.9874787 0.14674784 0.05788684 -5.12972388] [-0.14866123 0.98842573 0.0302393 -5.89552431] [-0.05277929 -0.0384662 0.99786507 0.62203546] [ 0. 0. 0. 1. ]] SLAMing on 147.841652532 meters 0.295732106273445 Centerline is valid? [False, False] Translation: X:-5.19, Y:-5.90, Z:0.62 [[ 0.98703179 0.14934261 0.05886457 -5.1898698 ] [-0.15163784 0.98775651 0.03664743 -5.89605788] [-0.05267084 -0.04509827 0.99759307 0.62273533] [ 0. 0. 0. 1. ]] SLAMing on 147.871652532 meters 0.28359511280150157 Centerline is valid? [False, False] Translation: X:-5.24, Y:-5.88, Z:0.63 [[ 0.98319327 0.17351547 0.05677485 -5.24458212] [-0.17553375 0.98393022 0.03269902 -5.88375425] [-0.0501887 -0.04211536 0.99785139 0.62813127] [ 0. 0. 0. 1. ]] SLAMing on 147.901652532 meters 0.2823294343827652 Centerline is valid? [False, False] Translation: X:-5.29, Y:-5.88, Z:0.63 [[ 0.98120669 0.18270208 0.06207562 -5.29218021] [-0.18507742 0.98210384 0.03490566 -5.88068378] [-0.05458737 -0.04573847 0.99746088 0.62733839] [ 0. 0. 0. 1. ]] SLAMing on 147.93165253200002 meters 0.2648681738090077 Centerline is valid? [False, False] Translation: X:-5.36, Y:-5.88, Z:0.63 [[ 0.97959577 0.19089091 0.06287117 -5.3570755 ] [-0.19368484 0.98017389 0.04177701 -5.88444399] [-0.05364982 -0.05310178 0.99714688 0.62791001] [ 0. 0. 0. 1. ]] SLAMing on 147.96165253200002 meters 0.26793284451487365 Centerline is valid? [False, False] Translation: X:-5.41, Y:-5.88, Z:0.63 [[ 0.9774466 0.19976509 0.06849855 -5.40877961] [-0.20284493 0.97833742 0.04135015 -5.88332389] [-0.05875438 -0.05431215 0.99679392 0.6271208 ] [ 0. 0. 0. 1. ]] SLAMing on 147.991652532 meters 0.3503701116735875 Centerline is valid? [False, False] Translation: X:-5.48, Y:-5.88, Z:0.63 [[ 0.97232283 0.22256427 0.07108764 -5.47852652] [-0.2257051 0.9733897 0.03961953 -5.88417173] [-0.06037809 -0.05456782 0.99668292 0.63083091] [ 0. 0. 0. 1. ]] SLAMing on 148.021652532 meters 0.2544307762589269 Centerline is valid? [False, False] Translation: X:-5.54, Y:-5.89, Z:0.63 [[ 0.97019433 0.23015995 0.07582453 -5.53533846] [-0.23329015 0.97176703 0.03527798 -5.88911993] [-0.0655642 -0.05191561 0.99649692 0.63258812] [ 0. 0. 0. 1. ]] SLAMing on 148.051652532 meters 0.25001975637214036 Centerline is valid? [False, False] Translation: X:-5.59, Y:-5.90, Z:0.64 [[ 0.96803441 0.2374733 0.08072059 -5.59220869] [-0.24062217 0.9701017 0.03168067 -5.89619579] [-0.07078387 -0.05009115 0.99623317 0.63591775] [ 0. 0. 0. 1. ]] SLAMing on 148.081652532 meters 0.2578052018393148 Centerline is valid? [False, False] Translation: X:-5.66, Y:-5.90, Z:0.64 [[ 0.96383437 0.25164332 0.08774363 -5.6550837 ] [-0.25526856 0.966317 0.03270193 -5.90444662] [-0.07655894 -0.05391743 0.99560617 0.64210689] [ 0. 0. 0. 1. ]] SLAMing on 148.111652532 meters 0.25609633206983085 Centerline is valid? [False, False] Translation: X:-5.69, Y:-5.91, Z:0.65 [[ 0.96400774 0.25084977 0.08811049 -5.69272163] [-0.25453179 0.96649415 0.03320572 -5.91298551] [-0.07682863 -0.0544375 0.99555709 0.64717629] [ 0. 0. 0. 1. ]] SLAMing on 148.141652532 meters 0.24946623491427902 Centerline is valid? [False, False] Translation: X:-5.72, Y:-5.92, Z:0.65 [[ 0.97089435 0.22594843 0.07944472 -5.71968594] [-0.22882743 0.97303181 0.02910521 -5.92084117] [-0.07072596 -0.04643721 0.99641428 0.64598563] [ 0. 0. 0. 1. ]] SLAMing on 148.171652532 meters 0.24852864573863406 Centerline is valid? [False, False] Translation: X:-5.74, Y:-5.93, Z:0.64 [[ 0.97555394 0.20241637 0.08556946 -5.74333605] [-0.20539036 0.97829596 0.02741931 -5.92769634] [-0.07816214 -0.04432416 0.99595484 0.64430988] [ 0. 0. 0. 1. ]] SLAMing on 148.201652532 meters 0.23215749964618726 Centerline is valid? [False, False] Translation: X:-5.76, Y:-5.94, Z:0.65 [[ 0.98063102 0.16992105 0.09741478 -5.76255943] [-0.17293332 0.98465792 0.02329898 -5.93708997] [-0.09196125 -0.03969396 0.99497111 0.64765837] [ 0. 0. 0. 1. ]] SLAMing on 148.231652532 meters 0.21880686070358374 Centerline is valid? [False, False] Translation: X:-5.77, Y:-5.94, Z:0.65 [[ 0.98423198 0.1521154 0.09026799 -5.76908228] [-0.15440242 0.98782769 0.01887704 -5.94182921] [-0.08629773 -0.03251698 0.99573859 0.6477288 ] [ 0. 0. 0. 1. ]] Total time of SLAM: 4692.57 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%| | 0/4942 [00:00